| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi, I'm Angelo. How I can do a joint with two degree of freedom? If I do two time the joint, a first time for first degree of freedom, and a second time for second degree of freedom, with axis xyz="1 0 0" and xyz="0 1 0" respectively,and if i try to set any value on rpy in the first and second joint I see with rviz only the effect of the last join. thank you very mich Angelo
Hello! I am assuming you mean in URDF. If so continue reading! I had the exact same problem with a hip joint the other day.
In order to get two degrees of freedom, make TWO revolute joints in the same location connected via a dummy link.
Example in Pseudo XML:
link thigh_link
link leg_link
link placeholder
origin="0 0 0" //NOTE: this link has no change in location nor any geometry
joint hip_joint_x type="revolute"
parent = "thigh_link"
child = "placeholder"
axis xyz="1 0 0"
/joint
joint hip_joint_y type="revolute"
parent = "placeholder"
child = "leg_link"
axis xyz="0 1 0"
/joint
Hope this helps!
Asked: 2012-02-17 09:19:02 -0600
Seen: 683 times
Last updated: Jul 25 '13
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
What? This question doesn't make any sense.