how to include dynamics to robots

I am working with Gazebo and Rviz with motion planning plugin. I am trying to work out motion planning for a robot I designed. How do I include the dynamics of the robot to simulate the motion planning with moveit?

Asked by boon on 2018-11-25 23:08:22 UTC

Comments

I feel this requires some clarification: what do you mean with "dynamics" specifically? Are you thinking of velocity, acceleration and jerk (and up) limits to be taken into account while planning with MoveIt? Or would you like to achieve as close-to-real-world as possible behaviour in Gazebo?

Asked by gvdhoorn on 2018-11-26 03:44:10 UTC

Answers

There are a few ways to do that. If you plan on using MoveIt, I suggest you create the robot description using URDF (http://wiki.ros.org/urdf) and see some tutorials on creating the SRDF, control parameters and kinematics parameters for it.

https://ros-planning.github.io/moveit_tutorials/

In case you don't plan on using MoveIt you can take a look at URDF in Gazebo (http://gazebosim.org/tutorials/?tut=ros_urdf), control plugins in Gazebo (http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i5) and take a step by step in the Gazebo tutorials in general.

Asked by FelipeNascimento on 2018-11-26 18:46:27 UTC