gazebo robot model modifying

asked 2018-01-04 11:31:26 -0600

KARIM gravatar image

updated 2018-01-06 07:21:19 -0600

Dear Alruists, I have to modify some functionality of a relatively complex robot (legged & wheeled), which I did not work before. I can spawn the model(urdf, idont have xacro file) and change joint angles in rviz

roslaunch urdf_sim_tutorial gazebo.launch model:='$(find urdf_tutorial)/urdf/tt3.urdf'

  • . I want to add force torque sensor to calculate efforts on wheel (added below portion but it shows

[FATAL] [1515084753.020957716, 0.114000000]: gazebo_ros_ft_sensor plugin error: jointName: force_torque_sensor_rear_right does not exist )

    <gazebo reference="force_torque_sensor_rear_right">
<provideFeedback>true</provideFeedback>
</gazebo>
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>100.0</updateRate>
    <topicName>ft_sensor_topic</topicName>
    <jointName>force_torque_sensor_rear_right</jointName>
</plugin>
</gazebo>

  • Move the robot on that flat surface (so added transmissions, but is differential drive applicable in wheel which are in different legs? )

    can you suggest any easy solution for this? Seeing some tutorials it seems modifying xacro, it would have been easier, but I dont have this, so have to add all manually.

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Comments

I'm confused. You have a differential drive with legs?

jayess gravatar image jayess  ( 2018-01-04 18:13:47 -0600 )edit

@jayess, I think its not possible to use differential drive here as wheels are mounted on legs, so distance varies. But why am I getting first problem, as it says the joint does not exist, but the joint is there in URDF.

KARIM gravatar image KARIM  ( 2018-01-06 07:20:51 -0600 )edit

Can you please post your URDF file?

jayess gravatar image jayess  ( 2018-01-06 12:59:29 -0600 )edit
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