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As i mentioned above, one solution could be to use lower and upper kimits inside your urdf file.

<joint name="articulated" type="revolute">
    <parent link="link1_rot"/>
    <child link="link2_lin"/>
    <axis xyz="0 1 0"/>
    <origin xyz ="0 0 0.05" rpy="0 0 0"/>
    <limit effort="1000.0" lower="-1.5" upper="1.5" velocity="0.5"/>
</joint>

the joint "articulated", which connects link1_rot and link2_lin can now spin around the y-axis from -90 to +90 degrees.

As i mentioned above, one solution could be to use lower and upper kimits limits inside your urdf file.

<joint name="articulated" type="revolute">
    <parent link="link1_rot"/>
    <child link="link2_lin"/>
    <axis xyz="0 1 0"/>
    <origin xyz ="0 0 0.05" rpy="0 0 0"/>
    <limit effort="1000.0" lower="-1.5" upper="1.5" velocity="0.5"/>
</joint>

the joint "articulated", which connects link1_rot and link2_lin can now spin around the y-axis from -90 to +90 degrees.

As i mentioned above, one solution could be to use lower and upper limits inside your urdf file.

<joint name="articulated" type="revolute">
    <parent link="link1_rot"/>
    <child link="link2_lin"/>
    <axis xyz="0 1 0"/>
    <origin xyz ="0 0 0.05" rpy="0 0 0"/>
    <limit effort="1000.0" lower="-1.5" upper="1.5" velocity="0.5"/>
</joint>

the The joint "articulated", which connects link1_rot and link2_lin can now spin around the y-axis from -90 to +90 degrees.