Ask Your Question
0

Pr2_controller for wheels robot

asked 2013-05-26 16:01:38 -0500

Gazer gravatar image

Just wondering, I am looking to move the base of my wheels robot by using the pr2_controller. (in Gazebo) But I already looked onto the tutorial a little. I am still a bit confused. How do I incorporate the controller onto my <sdf> robot (segway RMP), do I consider it as a plugin or what? Or do I have to write controller of my own?

Some guidance will be extremely helpful for me to head into the correct direction.

Thank you all!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2013-05-26 22:16:15 -0500

davinci gravatar image

You should place a transmission element in your model. You can then load a PR2 controller to control the joint. I am not sure if this works in sdf. In urdf you should incorporate such an element:

<transmission type="SimpleTransmission" name="caster_front_left_trans">
  <actuator name="caster_front_left_motor" />
  <joint name="caster_front_left_joint" />
  <mechanicalReduction>1</mechanicalReduction>
</transmission>

See the links this thread for more info.

edit flag offensive delete link more

Comments

thank you. I am following the tutorial here:http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot ............. so to use it, do I have to attach the controller to my sdf robot first?

Gazer gravatar image Gazer  ( 2013-05-27 13:20:18 -0500 )edit

For you own robot yes. Try to find the corresponding part in the urdf (or sdf) of the PR2 and copy that to your own robot.

davinci gravatar image davinci  ( 2013-05-27 22:30:17 -0500 )edit

sorry, I am still confused. Would you mind to explain a little about the purpose of controller? I use the Diff-drive plugin got it moving in gazebo. I have been following the tutorials and everything is working in sdf, and the website rarely mention about PR2 controller.

Gazer gravatar image Gazer  ( 2013-05-29 16:15:35 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2013-05-26 16:01:38 -0500

Seen: 104 times

Last updated: May 26 '13