Composing complex robots: xacro or static_tf_publisher?
I am composing a robot that consists of several independent parts (for example, a robot hand mounted on an arm).
So far, my "assembly" procedure has been a mix of two approaches:
- Create a single xacro file that includes other xacro files (for each robot), and define a link between them. This results in a single
/robot_description
parameter - Load two robots into their own namespaces (e.g.,
arm/robot_description
andhand/robot_description
), then define a transform usingstatic_transform_publisher
.
What is considered the best style for doing a complex assemblage of robots? Note that here I'm talking about linking multiple components into a single robot, not multiple independent robots.
Asked by Felix Duvallet on 2016-06-23 06:45:44 UTC
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