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differential transmission URDF, How to?

asked 2018-10-04 03:11:53 -0600

akosodry gravatar image

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

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answered 2018-12-05 11:35:08 -0600

Dani C gravatar image

I hope this helps:

https://github.com/pal-robotics/tiago...

Best regads

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Asked: 2018-10-04 03:11:53 -0600

Seen: 182 times

Last updated: Dec 05 '18