constant transmision values for Gazebo
Hi all,
I have a simulated PTU which is not controlled, so that it constantly swings around in Gazebo. I don't want to spend time writing a controller for it, I would just be happy if the PTU could just stay at a fixed angles but I don't know how to do it without writing a controller.
Is there a way to tell Gazebo that the PTU should always stay at a fixed set of angles?
I suppose it must be something inside the transmission file, which currently contains the following:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ptu_transmission" params="name">
<!-- Pan assembly -->
<transmission name="${name}_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_pan">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Tilt assembly -->
<transmission name="${name}_tilt_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_tilt">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_tilt_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
Asked by mark_vision on 2015-12-20 13:57:06 UTC
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