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hi all, i want to move a simple box in the space, with gazebo. i launched a simple world and a simple box not affected by gravity. I want to move the box in the three dimensions.
how can i do it?
by kayboard with a node? by services and applying wrenches?
Look at this tutorial: http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API#Apply_Wrenches_to_Links
Applying body wrenches will help you to achieve rotation, but linear motion is much more difficult.
Here's what I would do:
Create a fake link at some position on the ground.
Connect your model to the fake link using 3 prismatic joints and 3 revolute joints, one for each axis.
Write a Gazebo controller to subscribe to cmd_vel messages and move your model accordingly.
Use a keyboard teleop node to publish cmd_vel messages to the controller.
I actually don't think I've seen anything like this done yet. It seems like it would be useful for quadrotors and other flying objects. I think that I might go ahead and see if I can come up with a nice, generic package for this.
Asked: 2011-12-13 23:39:16 -0600
Seen: 3,971 times
Last updated: Dec 14 '11
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