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Why multiple of gazebo_ros_control are not allowed? I have one robot model but I need to use two instances of gazebo_ros

Why multiple of gazebo_ros_control are not allowed? I have one robot model but I need to use two instances of gazebo_ros

@gvdhoorn, it worked good. thank you.

Publishing at 1kHz for haptic applications Would it be possible to publish data at 1kHz without detrimental effects? My

Is it possible to do from the code (i.e. C++)?

Because the joint's type is fixed. Add this line <preserveFixedJoint>true</preserveFixedJoint>, it should do

This has to do with C++. Usually, when you create a class, you want to encapsulate your data inside the class. The creat

What is the option for Gazebo 9?

Problem with ros::Rate sleep function There seems to be a strange problem with the sleeping function for me. I've encoun

Understanding effort_controllers/JointTrajectoryController The manipulator I have has a gripper that is controlled by e

There is a need for more information. RViz is a tool for visualisation only.

The mobile robot doesn't reach to its max speed The youBot mobile robot is being used to test some kinematic controllers

just create global variable.

I'm trying to understand the relative position and orientation. Take a look at the below picture. The end-effector frame (i.e. the top right frame) for the UR5 is shown. Its relative orientation is shown in RViz as x=0,y=0,z=0.707,w=0.707. My understanding for relative orientation is with respect to the previous frame (i.e. the top left frame in the picture), but it seems to me the orientation is carried out by 90 deg around y-axis of that frame but the result shows the orientation about z-axis by 90 deg. What is exactly the relative and absolute position and orientation in ros?

I'm trying to test a kinematic controller that relies on UR5 DH parameters. I'm using UR5 model in universal_robot and the classical DH parameters. The controller works but there is just one problem. The x-y axes are reversed. If I send 0.5i+0.5j+0.5k, the rviz shows -0.5i-0.5j+0.5k, see the below picture. You can see the the arm is going in the opposite direction of the x-y axes. How can I rectify this issue? I'm using Gazebo 9 and Melodic to simulate the robot. I really appreciate your help and feedback.

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DH method represents the orientation as a Rotation matrix not quaternion, but I think you are right in the way tf tree i

Please take a look at my question https://answers.ros.org/question/405892/x-y-axes-for-ur5-appear-reversed/

In my controller, I'm using the standard DH parameters for UR5. It seems I need to modify this table so that both the co

Clarification about relative orientation I'm trying to understand the relative position and orientation. Take a look at

Thank you for the answer. What do you mean by "made them up"? It seems to me this is the result of tf structure from rea

Clarification about relative orientation I'm trying to understand the relative position and orientation. Take a look at

Thank you for the answer. What do you mean by "made them up"? It seems to me this is the result of tf structure from rea

Thank you for the answer. What do you mean by "made them up"? It seems to me this is the result of tf structure from rea

Clarification about relative orientation I'm trying to understand the relative position and orientation. Take a look at

I'm wondering if tf is capable of providing the pose (position and orientation) of the last frame in the tree relative to the base frame in the same tree? Also, does tf use Denavit Hartenberg to establish the forward kinematic tree?

Simple way to add a fixed frame to tf I'm running Husky Clearpath mobile robot and apparently there is no fixed frame (i