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Prismatic Joint not working properly with ROS2 & Gazebo 11

asked 2020-07-25 09:05:13 -0500

elementaryshr gravatar image

I have been trying to make a robot model with a prismatic joint which moves in z axis. It has a lift link and uses joint state to actuate the motion. The whole setup worked great with ROS1 and loading robot description from .xacro files (x.urdf.xacro, x.transmission.xacro and x.gazebo.xacro) with spawn_urdf form gazebo_ros

However, when I started porting the robot model for ROS2, I soon discovered that this no longer works properly and I had to create a standalone sdf 1.5 file. I managed to get almost everything working in this format, except the prismatic lift joint. The lift platform keeps dropping to the floor if z axis unit vector is selected. If we use x or y axis, the platform is on the correct position, but sheers in x or y direction.

ROS2 Robot

This is the link to my robot's model in ROS2 and this is the robot description from ROS1.

I am using turtlebot3 and dolly as ideal examples of robots launching with gazebo in ROS2. The robot itself is based on turtlebot3 with 2x the size and additional lift joint.

What am I doing wrong here? Also, does anyone know any other ROS2 based gazebo models for such warehouse robots which I can refer to? Also, can we launch .xacro files using xacro plugin in ROS2?

Thanks!

For reference: this is the video of my robot operating in ROS1

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answered 2020-07-31 11:44:19 -0500

naxvm gravatar image

Hello, I have the exact same problem. I defined a prismatic joint to lift a platform, but when the model is spawned in Gazebo, the lift attached to the prismatic joint falls to the floor through the rest of the robot structure (although the collisions are properly defined).

My SDF definition is here.

This issue is pretty weird. Did you manage to get a solution?

Thanks

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Hi @naxvm and @elementaryshr, did either of you find out what the problem was? I am having a problem with a prismatic joint as well.

ryanc gravatar image ryanc  ( 2020-11-12 00:51:26 -0500 )edit

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Asked: 2020-07-25 09:05:13 -0500

Seen: 349 times

Last updated: Jul 25 '20