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How to define actuators in URDF exporter?

asked 2017-01-15 14:16:48 -0500

kshitijgoel007 gravatar image

updated 2017-01-15 15:19:24 -0500


I have an assembly that looks like this: AUV

Now this doesn't have joints but does have 6 actuators. I have to use sw2urdf exporter to use the mesh in Gazebo Sim so that I can define the thrusters as actuators in the simulator. I am not able to understand what are joints and what are links in this assembly. Please help me out, a little hint would be sufficient.

Thanks for making this tool. Really appreciate it.

Kshitij Goel

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Your image is not showing. Please attach it directly to your question. I've given you enough karma to do that.

gvdhoorn gravatar image gvdhoorn  ( 2017-01-15 14:50:15 -0500 )edit

Just added it. Thanks for suggesting

kshitijgoel007 gravatar image kshitijgoel007  ( 2017-01-15 15:19:43 -0500 )edit

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answered 2017-01-15 14:52:03 -0500

gvdhoorn gravatar image

If you are talking about the actuator elements inside transmissions, then you can't add those using the sw2urdf plugin.

You'll have to do that manually, by editing the urdf after exporting it.

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Thanks for your answer. I have noted this. Can you please have a look again at the question? I have added the image now.

kshitijgoel007 gravatar image kshitijgoel007  ( 2017-01-16 06:53:19 -0500 )edit

I'm not sure I would change my answer. The exporter derives joint locations by looking at SW mates, which I don't think you have. Also: joints probably don't make much sense here. If you're just after having a mesh for Gazebo then you can just export without any joints defined.

gvdhoorn gravatar image gvdhoorn  ( 2017-01-16 07:21:56 -0500 )edit

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Asked: 2017-01-15 14:16:48 -0500

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Last updated: Jan 15 '17