Hi,
I want to add doors to the world that I have created in Gazebo. Basically I have modelled the entire house with furnitures and without doors. I want to add doors now. My plan is, for each door
- Create an hinge - cylinder of radius 0.1 and length 0.2
- Door that partially covers the hinge (as in real world).
- A revolute joint along z axis at the intersection.
This is the code I use
<robot name="Work_room_door">
<link name="hinge">
<inertial>
<origin xyz="0 0 1.125"/>
<mass value="0.5" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0 1.125" rpy="0 0 0" />
<geometry>
<cylinder length="0.2" radius="0.05"/>
</geometry>
</visual>
</link>
<link name="door">
<inertial>
<origin xyz="0 0.2 1.125"/>
<mass value="5.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0.2 1.125" rpy="0 0 1.57" />
<geometry>
<box size="0.4 .1 2.2"/>
</geometry>
</visual>
</link>
<joint name="door_hinge" type="revolute">
<parent link="hinge"/>
<child link="door"/>
<origin xyz="0 0.225 1.125"/>
<axis xyz="0 0 1"/>
<limit effort="15.0" lower="-1.57" upper="1.57" velocity="1"/>
</joint>
</robot>
When I run the command
roslaunch urdf_tutorial display.launch model:=door.urdf gui:=True
When I control the joint using gui that comes up, the door does not swivel around the hinge. Rather, it is still without motion. Please, help me with this. How can I make the door swivel around the hinge ? or is there any other method to do it ? Thanks!
Originally posted by prasanna.kumar on ROS Answers with karma: 1363 on 2012-07-05
Post score: 1
Original comments
Comment by SL Remy on 2013-01-07:
was this ever resolved?