How to deal with discontinous (e.g. on-off) joint/actuator type in ROS/URDF?

Hello,

Thanks

Asked by Fulin on 2015-10-23 04:06:43 UTC

Comments

How would this work/look? Do you mean that an actuator is available to be moved or not, but the movement is continuous or that an actuator is in either an on or off position.

Asked by dornhege on 2015-10-23 04:16:49 UTC

The last two links of our robot arm are connected with revolute (continuous) joints. But the joints are driven by on/off actuators (hydraulic/pneumatic actuators). I want to include those joints in URDF for path planning. But I haven't figure out howto. May be I can try to do it in "transmisson"

Asked by Fulin on 2015-10-23 09:36:23 UTC

Answers

The joints would be modeled as revolute in URDF, just like any other joint. For pneumatic/hydraulic actuators, I believe you'd be dealing with an EffortInterface for your actuator (http://wiki.ros.org/ros_control#Hardware_Interfaces), with the appropriate limits (http://wiki.ros.org/ros_control#Joint_Limits).

Asked by paulbovbel on 2015-10-25 20:48:34 UTC

Comments

Thank you. It is helpful.

Asked by Fulin on 2015-10-26 03:42:44 UTC