Changing the joint position on a robot
Hi there,
I have a robot description in xacro files which I would use to spawn in a gazebo world. I used this robot to explore and map the world with a given SLAM which uses the information coming from an RPLidar A3 mounted on my robot.
What I would like to do is to change the position/orientation of this sensor and compare the performance of the SLAM given each different position/orientation of the sensor. To achieve this I plan on using some kind of optimization algorithm to change the position/orientation and compare the results. However, to do this, I would need to write some kind of node that is able to access the robot description and change it.
I understand this problem is very similar with previous questions asked regarding the changing of tools in Industrial-type robots:
https://answers.ros.org/question/1973...
https://answers.ros.org/question/4981...
Since these are quite old posts, I would like to know if there as been a definite solution developed for this type of problem?
Thanks in advance.