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Stewart Platform: how can i connect multiple joints to the same child link but different parent links ?!

asked 2015-08-19 02:50:46 -0500

Mahmoud Abdul Galil gravatar image

I want to simulate and control the famous stewart platform in ROS and gazebo. I started with modeling the system in Solidworks and when i wanted to export the assembly to a URDF description i ran into a problem that the URDF description doesn't allow multiple joints to have the same child with different parents. Thus when i try to connect the different arms to the platform i end up with an error stating that there are multiple links with the same name. My question is: Is there any work around for this? I have searched for the problem and i found that SDF description supports closed loop joints, is this a solution to my problem ?! Here's link to a picture of my model in Solidworks to help you visualize the system:

Stewart Platform

Thanks in Advance

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answered 2017-12-20 15:50:46 -0500

daniel-s-ingram gravatar image

I was able to get this working using SDF and a simple plugin to make the Gazebo joints visible to ROS. It's still a work in progress, but here's the repository!

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answered 2015-08-19 16:39:30 -0500

David Lu gravatar image

You currently can NOT create links with multiple parents in URDF.

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What about SDF ?

Mahmoud Abdul Galil gravatar image Mahmoud Abdul Galil  ( 2015-08-20 03:21:56 -0500 )edit

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Asked: 2015-08-19 02:49:02 -0500

Seen: 2,893 times

Last updated: Jan 19 '19