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I'm developing a robot which has a parallel structure. As I know, urdf can't be used to describe it but the sdf format does. But I need to simulate the robot via Gazebo, I can just parse sdf file into Gazebo, but I can't control it via ROS. How solve this problem? Any solution to this?
URDF doesn't support close kinematic chains but the functionality of the same can be increased via using gazebo tags because sdf does support it . For realising the same kindly refer to pr2's gripper urdf file they have already implemented close kinematic chains in it .
Basically you also have to define your own transmission and controller.
https://github.com/IvanFernandezGraci... Used stepper Motor checking trajectory dynamics
does this may help?
Asked: 2019-07-24 05:35:14 -0500
Seen: 1,176 times
Last updated: Apr 07 '20
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