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Hi!

I have an assembly that looks like this: AUV

Now this doesn't have joints but does have 6 actuators. I have to use sw2urdf exporter to use the mesh in Gazebo Sim so that I can define the thrusters as actuators in the simulator. I am not able to understand what are joints and what are links in this assembly. Please help me out, a little hint would be sufficient.

Thanks for making this tool. Really appreciate it.

Kshitij Goel


Originally posted by kshitijgoel007 on ROS Answers with karma: 11 on 2017-01-15

Post score: 0


Original comments

Comment by gvdhoorn on 2017-01-15:
Your image is not showing. Please attach it directly to your question. I've given you enough karma to do that.

Comment by kshitijgoel007 on 2017-01-15:
Just added it. Thanks for suggesting

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1 Answer 1

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If you are talking about the actuator elements inside transmissions, then you can't add those using the sw2urdf plugin.

You'll have to do that manually, by editing the urdf after exporting it.


Originally posted by gvdhoorn with karma: 86574 on 2017-01-15

This answer was ACCEPTED on the original site

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Original comments

Comment by kshitijgoel007 on 2017-01-16:
Thanks for your answer. I have noted this. Can you please have a look again at the question? I have added the image now.

Comment by gvdhoorn on 2017-01-16:
I'm not sure I would change my answer. The exporter derives joint locations by looking at SW mates, which I don't think you have. Also: joints probably don't make much sense here. If you're just after having a mesh for Gazebo then you can just export without any joints defined.

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