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Controlling Arm in Gazebo

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Aditya Gaddipati edited this page Jul 5, 2017 · 7 revisions

To move the robot in Gazebo we need to assign a ROS controller to each joint. ROS controllers are provided by the package called ros_control. A controller is responsible for taking commands to move the joint and for publishing the joint state.

In order to actuate the robot using ROS controllers, we should define the transmission element in the URDF file to link actuators to joints. The macro used in the URDF for transmission is as follows:

  1. Home
  2. Setting Up MoveIt!
  3. Understanding MoveIt!
  4. Arm Design
  5. Controlling Arm in Gazebo
  6. Interfacing MoveIt! with Gazebo
  7. Interfacing Real Robot with MoveIt!
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