Easiest way for closed kinematic chain? [closed]

asked 2022-08-09 07:01:09 -0500

NotARobot
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Greetings.

I have a model containing a closed kinematic chain, which is not supported by ROS URDF file standard. Therefore I could write the description also in SDF which allows closed kinematic chains, however, I am not certain if I could use something like XACRO to parametrize the SDF similar to an URDF.

Alternatively, is it possible to use the <gazebo> tag in the context of the URDF for the definition of the joints which close the kinematic chain?

TL;DR

I have a closed kinematic chain within a robot configuration.
Is it possible to parametrize the SDF which allows for the closed kinematic chain?
Is it possible the achieve the closed kinematic chain with the use of the
<gazebo> tag within the URDF?
Is there a fast, straight forward way to get a parametrizable robot description for closed kinematic chains?

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Closed for the following reason the question is answered, right answer was accepted by shonigmann
close date 2022-08-10 10:44:54.578342

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answered 2022-08-09 12:34:37 -0500

shonigmann

1567 ●15 ●115 ●49

Yes, you could use xacro to parse a parameterized SDF file directly if you want, either using extensions of the base xacro tool (e.g. https://github.com/gezp/xacro4sdf) or with a little copy paste (or scripting) of the generated output
Yes, you can use Xacro with <gazebo>tags to create closed kinematic chains that would function in gazebo when the generated URDF gets converted to SDF. This might be a useful example: https://github.com/2b-t/closed_loop/b...
Fast and straightforward is a bit arbitrary... depends a bit on your needs and what you're starting with. I'd recommend using the "standard" xacro->urdf->sdf pipeline so your description file remains compatible with other tools like RViz without requiring duplicate definitions. Adding the gazebo tags isn't too cumbersome.

Comments

Thank you very much! As you, I prefer the approach with <gazebo> tags, so I have only one file to maintain.

NotARobot ( 2022-08-10 05:58:43 -0500 )edit

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Easiest way for closed kinematic chain? [closed]

Closed for the following reason the question is answered, right answer was accepted by shonigmann
close date 2022-08-10 10:44:54.578342

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Easiest way for closed kinematic chain? [closed] edit

Closed for the following reason the question is answered, right answer was accepted by shonigmann close date 2022-08-10 10:44:54.578342

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Easiest way for closed kinematic chain? [closed]

Closed for the following reason the question is answered, right answer was accepted by shonigmann
close date 2022-08-10 10:44:54.578342