# Questions tagged [robot-model]

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### Set_Model_State does not move my TurtleBot2

I am currently trying to create/migrate Q-Learning scripts for my TurtleBot2 in gazebo (for ROS2/Humble) and came to a problem which I cant solve. In a Python file I have created a couple of methods ...
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### How to have a child link with two parent links for URDF

As the title states, there is a link on my robot that is connected to two different parent links in seperate places. I don't know how to do this as it says that every single link must be unique. Is ...
1 vote
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### Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
90 views

### Steering wheel angle control

I am working on an autonomous vehicle's control, specifically the steering angle control. Knowing that I used kinematic bicycle model, my questions are: How do I choose the actuator for my steering ...
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### Define system forward dynamics with sympy

I would like to model the dynamics of a robot via the usual discretized system of equations  x_{k+1} = f(x_k, u_k) \qquad x\in\mathbb{R}^{n_x}, \quad f:\mathbb{R}^{n_x}\times\mathbb{R}^{n_u} \to \...
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1 vote
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### Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot

I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism. I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
106 views

### Modelling/Theory for Quadraped Robot Leg Example

I have been working on attempting to replicate the following robot developed by some MIT graduates. https://dspace.mit.edu/handle/1721.1/98948 Presently, I am trying to work out the model for a single ...
• 121
544 views

### URDF for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
• 85
734 views

### DH Parameters of a 2 DOF RP Robot

How can I determine the DH parameters of the robot shown in the figure ? As i know, the z axis should show the rotation axis for rotary joints and direction of extension for prismatic joints, so the ...
1 vote
439 views

### Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
67 views

### Choose the structure of the dynamic model for the generalized equations of motion of the robot

I ask the robotics specialists for help as I am a little confused. I have two subsystems which are shown in the picture below: One of them is a system of stable and controlled differential equations ...
• 183
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### Generate robot model for openrave

Is there another way to generate a collada model to work with openrave other than converting an URDF file with ROS' collada_urdf software? The problem I'm encountering is with the setup needed to use ...
1 vote
302 views

### 4 Axis Gimbal Nodal Robot DH Parameters

I'm working on a robot gimbal where there are 4 revolute joints (4th axis for gimbal lock, reducing inertia etc). The robot is nodal such that all axes have the same nodal point and rotating any axes ...
426 views

### DC motor modelling with Bond Graph

I am trying to construct an equation that describes the output torque as a function of lambda and omega I have obtained the following bond graph but I am unsure of how to proceed.
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1 vote
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1 vote
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### Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

I want to develop a dynamic model of a parallel robot for control tasks. It is known that equations of motion based on Lagrange equations can be transformed into a state space and use such a model. ...
• 183
755 views

### Model of two link rigid manipulator

I am working on parameter estimation of a rigid two-link manipulator as shown in the picture below. Unlike the cylindrical links shown in the above image, my robot has links of oval shape. So the ...
• 313
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### Problem with MoveGroupInterface::getRobotModel() providing only const version

I'm trying to get my own instance of JointModelGroup from code equivalent to this: ...
2 views

### Second instance of robot model for constraints planning

Hi every one! I'm working on a dual_arm planner to use 2 UR-10 for manipulation. I'm coding it in c++, but i'm still learning every day about coding, so please be gentle :) Using ROS Indigo on Ubuntu ...
74 views

### Confused about Xacro and URDF

Hey together, I am a little bit confused about the use case of xacro and urdf. I my case I have an robot equipped with 3 laserscanner and modeled a urdf file for it following the build your URDF ...
42 views

### Webots to URDF Model Converter

Is there any existing work out there on a converter that allows generating URDF from Webots models? I´d be interested in anything useful for that task (also partial implementations, hints, etc.). ...
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### footstep_planner model problem

Hi, i'm new in ROS. I'm trying to start with footstep_planner. According footstep_planner and Getting-Started tutorials install all packages that we need. Then i'm running ...
8 views

### Dynamic Robot Model Implementation

I'm wondering if anyone can offer advice on how to approximate a non-rigid robot model. I'm implementing a model of a 3 DOF arm for a university independent study that uses a rollable prestressed tube ...
4 views

### Pioneer3-AT Rviz/urdf model

Hi everyone! I am running a SLAM simulation using a Pioneer3-AT and it would be usefull if I had the pioneer's model on Rviz. That is, is there a way or a place where I can get a model of the P3-AT ...
3 views

### Using osg (OpenSceneGraph) models in rviz?

I am trying to show meshes in rviz and the mesh is originally an OpenSceneGraph model (.osg). My previous conversion pipeline was to use osgconv to convert to 3ds and wings3d to convert to collada dae....
2 views

### Compile problem in robot_model (catkin_package)

Hello, When I try to compile the robot_model it shows that: " CMake Error at CMakeLists.txt:6 (catkin_package): Unknown CMake command "catkin_package". " I am using Ubuntu 12.04 &...
3 views

### problem in building package 3d_navigation

Hi, I am using ros-diamondback with ubuntu version 10.10. The package '3d_navigation' has dependency on stack 'pr2_mechanism'. While trying to built this stack, it needs 'urdf_interface' from stack '...
2 views

### How to use navigation stack in simulation using .dae and rviz

To use and learn navigation stack, I'd like to simulate 2D navigation (path planning and collision avoidance) using a robot model(e.g. PR2.dae) and rviz. Are there any tutorials for that? What are ...
10 views

### How to modify the turtlebot robot model in rviz?

Hi, I have remodeled my turtlebot with additional hardware to increase the height of the kinect location. I would like to model the same in rviz. I want to know which urdf file i should edit in order ...
8 views

### How to fix SIA10D ROS industrial robot loading model fail in RViz?

I followed ROS-Industrial Tutorial. I run: roslaunch sia10d_mesh_arm_navigation planning_scene_warehouse_viewer_sia10d_mesh.launch And get partly loaded model of ...
6 views

### robot description in turtlebot

Hi, I am trying to push everithing related to my robot under the name of the robot, but when it comes to the topic robot_description I can't, the description keeps the original tree for the transform ...
37 views

### How to debug gazebo

Hi all, I'm migrating to electric and i have some issues setting my gazebo simulation on, i can launch gazebo and my .world map and i seem to works fine (i had to make some changes to remove some ...
15 views

### Is there a list of free available robot models for gazebo?

Hi, I wanted to know if there is a list of free available robots to play with in gazebo; such as turtlebot, PR2, erratic-robot? Maybe there are some models for the Pioneer, Care-O-bot, Roomba, ...
3 views

### 3d mesh model of robot based on joint states

I want to determine the projection of the robot arms (PR2) onto its cameras so that I can mask these regions out of the images. Has anyone done this before? I see some relevant code in the ...
7 views

### Multiple visual entries in urdf

Is it possible to have multiple visual entries in an urdf link? If yes, how? For me, it seems to only take the first entry. The same would go for collision models and maybe inertia. Originally posted ...
4 views

### displaying COLLADA 1.4 models in rviz

Thanks Ryohei (and Rosen) for your suggestions - after re-compiling rviz/robot_model from trunk, I was able to see the Barrett hand COLLADA model in rviz. Then I had our summer intern work furiously ...
9 views

### what might cause the shoulder_lift_joint not to go all the way up?

Hi, I'm using JointTrajectoryAction to control the arm to follow a trajectory that can be executed well by openrave's controller. Most of the time, it works. But I found one case where the trajectory ...
1 view

### ROS Answers SE migration: URDF in Python

Has anyone written a class that does URDF parsing/output in Python yet? I'm debating putting one together, but don't want to replicate work. Originally posted by David Lu on ROS Answers with karma: ...
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### Converting SolidWorks stuff to URDF. STL and Meshlab problems

We have hard time converting our very cool robot SolidWorks files into URDF. They are way too complicated to make it somehow manually from scratch. As much I know there is no way to draw 3D model with ...