convert prismatic joint to fixed when not moved

asked 2018-09-26 09:22:10 -0500

Asker gravatar image

Hello everyone!

I specified a prismatic joint in my .urdf file so that it is movable in z direction like so:

<joint name="my_prismatic_joint" type="prismatic">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
    <parent link="my_parent_link" />
    <child  link="my_child_link" />
    <axis xyz="0 0 1" />
    <limit effort="100.0" lower="-0.08" upper="0.1" velocity="0.3" />

I can control this via a publisher to my_prismatic_joint_controller/command rostopic which works fine.

However, I want this joint to become immovable aka passive aka fixed if a value (force) of 0.0 is send to this topic.

Is there a way to specify such a joint type?

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I don't think this is possible. Also: prismatic is a joint type, but your questions appears to be about a form of control. Those are two different things.

gvdhoorn gravatar image gvdhoorn  ( 2018-09-26 15:06:07 -0500 )edit