differential transmission URDF, How to?
Hello ROS Community,
I am reading on the wiki that differential transmission type is also supported, however i could not find any URDF example of how to implement it.
The only thing i found is the example given here, but i still find it difficult to figure out how should i use the given code?
In my system i have five joints (joint1-joint5), and i control them with position_controllers/JointTrajectoryController
, however the last two joints (joint4 and joint5) requires differential transmission.
Where should i start the elaboration on this problem? Do i need to write an own specific JointTrajectory controller? Is it possible to use differential transmission in the URDF under the type tag?
Thanks in advance!
Best regards
Asked by akosodry on 2018-10-04 03:11:53 UTC
Comments