Control the joint position in PX4 SITL

asked 2021-01-16 00:24:38 -0500

eldewany101 gravatar image

updated 2021-04-22 11:25:10 -0500

miura gravatar image

Hey, so I'm using the SITL platform provided by PX4 which is ma8nly an iris quadrotor written in SDF format with various plugins to make for the dynamics and forces. I'm adding a suspended pay load to the vehicle which is connected to a universal joint to allow it a 2 DOF swinging motion. My problem is that i want to change the angle of the joint instantaneously to see how the Quadrotor reacts and from googling, joint state publishers only work with urdf formats so that they can be used with ros control. So how can i achieve this?

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