Are transmission tags essential to control joints of a robot?

asked 2017-07-13 07:35:03 -0500

shura04 gravatar image

I'd initially thought that every joint which needs to be actuated needs to be accompanied by a transmission tag in the urdf and needed to be interfaced with gazebo through a controller plugin But I came across fetch robot ( ) which works completely fine without any sign of transmission tags anywhere. I'm trying to emulate this setup exactly for my robot (a combination of Pioneer3DX and a 7DOF arm) but it's failing. What am I missing? How does the fetch robot control joints without transmission tags?

edit retag flag offensive close merge delete