closed chain position ros_controller and Gazebo

asked 2017-10-26 11:57:43 -0500

mark_vision gravatar image

updated 2017-10-26 11:58:13 -0500

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?

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Comments

Hi, im having the same problem. How did you manage with this?

Lucas Morandi gravatar imageLucas Morandi ( 2019-02-15 06:36:37 -0500 )edit