Planar joint in RVIZ

asked 2017-12-06 13:36:48 -0500

afar
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updated 2022-05-27 15:59:16 -0500

Andromeda
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Has anyone been able to to make a planar joint. Imagine I have a base link and another link on top of that and a planar joint between them. I use the following setting for joint:

<joint name="joint_planar" type="planar">
   <parent link="base_link" />
   <child link="link1" />
   <origin xyz="0 0 0.5" rpy="0 0 0" />
   <axis xyz="0 0 1" />
   <limit effort="30" velocity="1.0" lower="-10" upper="10" />
</joint>

After loading the model in RVIZ, I would expect to see two sliders for x and y in joint_state_publisher gui. But I only see one and it does not do anything.

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Did you fix it?

Andromeda ( 2022-05-27 15:59:25 -0500 )edit

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answered 2022-05-27 17:26:13 -0500

contradict
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joint_state_publisher ignores planar joints. I think this is because sensor_msgs/JointState assumes a single degree of freedom for each joint. I don't see any code in robot_state_publisher to handle multi-dimensional joints either, so this may just be missing functionality.

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joint_state_publisher ignores planar joints, yes... but TranformedStamped (which is used for the transformation of the odometry) should be able to use it correctly. Anyway. I tried only to find out, that, it does not work as well...

Andromeda ( 2022-05-28 07:45:17 -0500 )edit

Usually the odometery node publishes a transform from odom to base_link. This is indeed expressed as a Transform, not as joint information. There is no corresponding joint in the URDF, the node adds a transform to the TF tree by publishing its transform. Have a look at this example.

contradict ( 2022-05-28 10:59:24 -0500 )edit

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Planar joint in RVIZ