closed chain position ros_controller and Gazebo
Dear all,
I'm trying to build a closed chain robot and control it over ros_control
.
Since URDF does not allow for closed kinematic chains, I've implemented my robot model in SDF.
The robot has three linear actuators.
Then, I created a fake URDF just to load the ros_control
controller.
The approach seems to work for both EffortJointInterface
controllers and VelocityJointInterface
controllers, but the robot does not move when commanded in position:
I check the feasibility of the solution before sending the commanded position.
Any idea on how to solve the issue?
Asked by mark_vision on 2017-10-26 11:57:43 UTC
Comments
Hi, im having the same problem. How did you manage with this?
Asked by Lucas Morandi on 2019-02-15 07:36:37 UTC
Any solution?
Asked by Avish on 2020-07-20 12:46:26 UTC