jolesinski's profile - activity

Hi, I have a custom robotic gripper, that has two moving finger links actuated via single servo, similar to this one. So the first link joint is actuated directly from a servo and passes the torque to the second via 1:1 gear. My question is, what is the proper way to model such gripper in urdf/gazebo/ros_control? Is it possible to use a single interface like JointPositionController to move both finger links in simulation? I would appreciate any advice.

One more question, do you recall what you meant by "The macros can be called dynamically with a single parameter." ? I don't see it in your repo, but calling a macro by dynamic names would be a solution. I see it in jade possible by xacro:call, unfortunatelly Im bound to previous releases

Thanks for help. I see that u extracted inertias and joints to macros in separate file. This makes the code more readable, but it still requires copy-pasting of all the arm_id stuff and modifying the ids everywhere manually. Not exactly what I was looking for, but it seems that theres no better way.

Hi, could you provide some example of your solution? I've tried using a macro that receives property id, and builds up property name while passing it as parameter to another macro. Unfortunately, it seems that the nested macro treats that param as a string and does not resolve it to a property.