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I've managed to create an urdf file and can simulate it in gazebo. It consists of a 3 finger gripper so the joints are all revolute. Now I want to be able to rotate them on gazebo or rviz, this is, open and close the gripper, with a ROS topic. How am I able to do that? I cant publish the topic but can't make the model move since I can't make it subscribe the message. I think that I have to use the topic "hand_command" and the msg "trajectory_msgs/JointTrajectory". Is there any tutorial on this or can anyone give me some help? The gripper is based on the model found on the link of shadow hand smart grasping sandbox.


Originally posted by JuanTelo on ROS Answers with karma: 9 on 2018-01-22

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Here's a place you can start: http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo


Originally posted by David Lu with karma: 10932 on 2018-01-22

This answer was ACCEPTED on the original site

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