Questions tagged [transmission]
The transmission tag has no usage guidance.
25
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How do I offset the joint values in ros2_control by a multiple/divisible to account for the gearboxes on my real actuators?
I'm using ros2_control to send connect moveit 2 and my real robot together, however on my real robot, the motors attached to joints are connected to gearboxes, and I cannot seem to find a way to just ...
- 1
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15
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Joint does not move after applying effort to it
I am working with a 4-wheel mobile robot. I placed a transmission on each wheel joint in order to output an effort to the actuator, by forwarding the same effort (effort->effort). However, I only ...
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design documents for ros2_control transmissions
Does anybody know where I can find architecture design documents for ros2_control transmissions?
I'm interested to know:
Why ReadOnlyHandle uses a pointer to ...
- 105
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60
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How to access URDF info inside a transmission interface?
I'm trying to write a custom transmission interface for ros2 control for the robotiq 3f, and I need access to the joint limits defined by the urdf, but the Joint handle does seem to contain that info, ...
- 155
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128
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How to define transmissions with ros2 control
From my current understanding, if you want to use ROS2 Control with gazebo, you have to use one ros2_control tag with type system...
- 178
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No matching hardware interface found for 'hardware_interface/JointStateInterface' while loading interfaces
I have a robot defined in a URDF file that I want to use in gazebo with ros-control.
The robot has multiple non-fixed joints, but I only want to control the wheels. The other non-fixed joints should ...
tirafesi
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1
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39
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How to control a rotating joint in velocity
Hello everyone,
I'm trying to control a rotating joint type "continuous" in velocity, and simulate it in Gazebo.
This is the URDF joint definition:
...
lotfishtaine
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1
answer
5
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ROS publishers & subscribers still transmitting data after roscore closed
Hi,
I am working on a scale city project where we will have some cars running along a track connected to a watchtower. We have decided to use ROS for the project and are running Kinetic on Ubuntu 16....
ratelle
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1
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37
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Integrating transmissions in ros_control using URDF
We are using ros_control for controlling the arms of our robot (seven joints and seven actuators, simple transmission). However while launching the hardware_interface(along with the transmissions) ...
RLaha
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1
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6
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Why does Effort Joint Interface cause the joints to collide
One of the hardware interfaces from controller_manager package is EffortJointInterface, but when I define transmission with this hardware interface and run the ...
kump
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15
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differential transmission with ros_canopen, HOW to?
Hello ROS Community,
I have already tried to ask a similar question here: #q304832, however no answer was received so i am trying to ask again from a different perspective.
I am working on the control ...
akosodry
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35
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Create Transmission between two parallel link like gears in urdf?
hi . how creat Transmission between two parallel link like gears in urdf ?? i have two gears in my urdf . when rotate gear 1 , gear 2 is fixed and not rotate!
i want rotate two gears in same time .
...
zakizadeh
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1
answer
4
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Network data loss using 4 robots
I have a group of four robots. Right now I am doing testings on the data transmission over a wireless network, the output of rqt_graph is shown below.
Robot 1, 2 ...
Luis Ruiz
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1
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10
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How to send right velocity to model in gazebo?
Hi,
I am sending velocity command to gazebo model but it only reflects 35% of commanded velocity. I tried to tune PID gain in config file but it doesn't affect anything. In xacro file also, changing ...
cybodroid
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8
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Using a joint with motor on other than parent link thru Transmission
I have made a custom robot arm and I'm making an URDF file for that.
situation:
lower arm, mounted on base
upper arm mounted on lower arm
motor for upper arm mounted on base
motor and upper arm ...
Bas
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1
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37
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Using gazebo_ros_control with SDF instead of URDF
My robot has a closed loop linkage, and therefore I cant use a URDF file as URDF only supports tree strucutres. Since SDF supports graph structures, I need to use that in order to simulate my robot. ...
l0g1x
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1
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15
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Problem with python parser URDF
Hi everyone,
I'm having some troubles extracting the information of a URDF file from the parameter server. In the launch file I load the robot in the parameter server with no problem or warning, in ...
j.macanas
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2
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3
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How to Monitor the data transfer
Hi everyone,
I would like to know how to monitor all the data transfer between ros.
There are two computers connected by using same roscore master. I want to measure the amount of data transfering ...
mree
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1
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15
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Transmission and track chain
I added a "transmission" block in the URDF to describe the model of the tracks of my robot...
My tracks are triangular, with an active sprocket and two passive sprockets. The active sprocket ...
- 198
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11
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How to integrate transmission into RobotHW
We have migrated our robot base driver to use ros_control.
That works well, execpt for the transmissions. There are transmissions in the URDF Model:
...
Michael Stoll
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1
answer
5
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ROS Answers SE migration: URDF or Xacro?
I am new to ROS and I have been using SolidWorks Exporter for generating URDF for my robot.
Things didn't go well adding transmissions and controller plugins, Gazebo crashes if I spawn the urdf with ...
Oguz
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1
answer
4
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Running Moveit on Indigo with UR5 fails
Installed Moveit (*sudo apt-get install ros-indigo-moveit-**), and UR from source (cd src/; git clone https://github.com/ros-industrial/universal_robot; catkin_make;).
This is what I'm getting:
...
Eyal
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1
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4
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getting my custom transmissions to work in gazebo
I'm having problems getting my model to work in gazebo: when I spawn my model in gazebo, I get a segfault. I'm almost sure it's due to my custom transmissions, because the model is working when the ...
Ugo
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1
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1
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Some recommendations to develop my own mechanism_model package
Hi Ros Community,
I want to develop my own mechanism_model package to simulate and control in Gazebo. The actuators as you know are primates, but the rotational joints. Then I want you to give me some ...
Carlos Mastalli
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2
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PR2 controller joint: control 2 joints with one motor
In our robotics hand, I have to control 2 joints with one motor: the distal and middle joints are mecanically linked together, so you issue a command to a "super joint" which moves both of ...
Ugo