Closed loop in Gazebo and Gazebo_Ros_controll
Hi ROS developers, I have a question. I made a Delta robot (Parallel robot) for my school project. Because delta is a closed kinematics chain I made an SDF model to simulate in Gazebo. I am giving up on SDF because I need to create my custom plugin, i didn't find any plugin to connect ROS and SDF. Because of all of that, I am trying to use <gazebo> tags and it is working, I can spawn my model in gazebo, but they have a problem I can not use gazebo_ros_control plugin. When I use PositionJointInterface I have this error (https://github.com/DarkoMutavdzic/Clo...), with EffortJointInterface, I don't have errors but nothing is happening, with VelosityJointInterface, same. I don't know what I can do to fix that. You can see my test code here: https://github.com/DarkoMutavdzic/Clo...</gazebo>
Hi! I don't know how to solve your specific case, but take a look at the github repository of the Leo Rover: https://github.com/EuropeanRoverChall...
This rover also use a closed kinematic chain and uses a custom Gazebo plugin to make it work: The plugin code
implementation in the xacro file