Delta Robot Movement in Gazebo ROS2 Foxy
Hi, I am a newbie in both ROS and Gazebo. As for what I've found, delta robot which consist of closed loop chain is not able to be represented by URDF hence I've moved to the use of SDF. Do you guys have any idea on how to move the delta robot arm in gazebo? I am using ROS2 Foxy, is there any suitable plugin to use? Moveit2 is not suitable for this case as I'm not using URDF. Is ros2_control suitable? Do you guys have any example for me to refer? Thank you in advanced.
Take a look at this ROS1 project, it might help you to get started, dynamics are bit tricky when it comes to delta robots: https://github.com/AutoRoboCulture/de...
Hi Osilva, thank you for the information. I have already read through the project, however I am not able to figure out what is the trick that the author did to create a close loop chain by using URDF. Can you explain a little bit on that? Thank you.
Not 100% clear on what you mean 'close loop chain' ? When it comes to the
urfdflegs are just connected to small box where the gripper is located and top box that is fixed in space. I don't think a special trick is needed, as Gazebo has full physical simulator to consider all the dynamics involved.What i mean is that i want all three arms to be connected to the same child link, which obey the tree structure that can be performed by URDF that only support a child link with single parent link, isn't it?
Take a look at this previous answer: https://answers.ros.org/question/3413...