help on revolute joint placement in gazebo
Hi,
I'm trying to build two robot system where the robot has a revolute joint which needs to rotate around it's axis.
my urdf file looks like this
<!-- robot 2 -->
<robot name="pointrobot">
<link name="base_link_x_2">
<inertial>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="1.5 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="base_link_y_2">
<inertial>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="1.5 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="base_link_2">
<inertial>
<mass value="100.0"/>
<origin rpy="0 0 0" xyz="1.5 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.2"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.2"/>
</geometry>
</visual>
</link>
<link name="lidar_link_2">
<inertial>
<mass value="100.0"/>
<origin rpy="0 0 0" xyz="1.5 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.02"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.1" radius="0.02"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<link name="feature_link_2">
<inertial>
<mass value="1.0"/>
<origin rpy="0 0 0" xyz="1.5 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.001" radius="0.02"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="1.5 0 0"/>
<geometry>
<cylinder length="0.001" radius="0.02"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="lidar_sensor_link_2"/>
<joint name="mobile_joint_x_2" type="prismatic">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<parent link="world"/>
<child link="base_link_x_2"/>
<origin rpy="0 0 0" xyz="1.5 0 0.05"/>
<axis xyz="1 0 0"/>
<limit effort="87" lower="-5" upper="5" velocity="2.1750"/>
</joint>
<joint name="mobile_joint_y_2" type="prismatic">
<safety_controller k_position="100.0 ...
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