Simulation and actuation of custom model in ROS Gazebo [closed]
Can you be requested to let me know how I can build a software robot from scratch and simulate in ROS Gazebo (without any pre-existing package)? I am trying to extend Erle Robotics Tutorials' simulation to multi-drone simulation and that is causing a lot of issues including some strange issues with software-tools like roswtf.
So, in an attempt to reduce the problem statement to bare-minimum, I have decided to simulate three links and two joints which represent human-hand. I can create three 3D models (using Blender). One will be one 'thin' cylinder with a base plate attached and other two will be 'thin cylinders'. I can then link STL using URDF file as mentioned in this tutorial. But, what I am failing to understand is how I can actuate the joints using C++ code.
Optionally, it will be great if you can let me know how I can extend C++ code with custom wrappers for Python/how I can create command-line ROS service called through relatively minimal YAML file to actuate two joints (I can call system functions through some script/code).
I badly need a solution for this and any help will be greatly and whole-heartedly appreciated. Thanks for your time and consideration.
Humble note: I have read tutorials on XML and URDF Tutorials. I read URDF Controller Example and I did not understand data-type of "wheel1_state" variable and why I should use pr2 packages (I would like to see custom package) and other tutorials like robot_state_publisher do not describe the actuation of joints.