mobile robot and arm robot in gazebo simulation

asked 2021-08-10 12:14:18 -0500

miz gravatar image

updated 2021-08-11 02:36:26 -0500

I'm trying to do a gazebo simulation of two robots using ROS2 foxy.
I have two urdfs.
The first one is a mobile robot urdf and the second one is a robot arm urdf.
These robots move completely independently and are not affected by the movement of one of them.
I want to spawn these two robots on gazebo and control each of them with a different ros2 controller.
The way it was done in some examples, merging two urdfs into one urdf, did not work because the robot arm moved with the mobile robot.
I want the mobile robot to be free to move and the robot arm to be fixed in place.
Is there any way to do this?
I apologize for my poor English. (I'm using DeepL)

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