multiple joint connections in a URDF

asked 2015-12-04 12:42:52 -0500

badrobit gravatar image

I am currently trying to model a rover that has a wheel support beam that runs between the front and back wheels on each side of the rover. These support beams are connected to the rover base but in two locations. One along the central axis and a second in the rear using a suspension system. Is there anyway to properly model this system in ROS using URDF?

See diagram below for a better description of the rover: image description

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