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moving a box in the air with gazebo

asked 2011-12-13 23:39:16 -0500

Maurizio88 gravatar image

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?

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answered 2011-12-14 01:10:21 -0500

jimmycuff gravatar image
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answered 2011-12-14 02:12:11 -0500

DimitriProsser gravatar image

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.

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hi, actually i want do it for piloting a quadrotor. Obviously, it's a restrictive simulation.
Maurizio88 gravatar image Maurizio88  ( 2012-01-15 19:06:17 -0500 )edit

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Asked: 2011-12-13 23:39:16 -0500

Seen: 3,834 times

Last updated: Dec 14 '11