Ask Your Question
0

how to use gazebo without the inertial tag?

asked 2019-11-08 19:02:28 -0600

panches gravatar image

Hi, I want to use ros to control my humanoid model in gazebo, my humanoid model should only move his legs and ros is supposed to send angles to change the position of the knee, hip and ankle.

I have developed a urdf file with all the visuals and joints, but now I want to make the model walk, sit and do any other movement we can do with our legs using the angles ros sends to gazebo. I want my model to make those moves without physical effect, which I mean by that is that my model would work without the inertial tag and his values of mass and momentum. Is that possible?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-11-10 11:18:50 -0600

argos gravatar image

You can try just using rviz instead of using gazebo. The rviz models don't require physics attributes.

edit flag offensive delete link more

Comments

I used rviz to check if my model was human-like and the movements were okay, but, as far as I know, rviz do not know if the model's feet are on the ground or not, and I want that my model to be able to walk only with the joint's angle information. For this to work I believe the model should know where the ground is, otherwise the model is going to move its legs on the same place, changing the angles, but it will not changing its position on space. But I do not have much experience with rviz, is it possible to do what I just said in rviz?

panches gravatar imagepanches ( 2019-11-10 12:41:52 -0600 )edit

Yes. You can do that by assigning proper tf frames and tf transformation and add them as additional topics in the rviz gui for visualization

argos gravatar imageargos ( 2019-11-10 12:56:38 -0600 )edit

Do you have any example or material where I can see how it is done?

panches gravatar imagepanches ( 2019-11-10 18:51:23 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-11-08 19:02:28 -0600

Seen: 39 times

Last updated: Nov 10