Contents
closed_loop_plugin
This is pegasus_gazebo_plugins package developed for our quadruped robot "Pegasus",which is used for Pegasus robots in gazebo simulation and ROS environment.closed_loop_plugin is one of the plugins that open here,to solve the issue that URDF not support Closed loop chains.
- Maintainer status: maintained
Author: Angel_jjhttp://wiki.ros.org/Angel_jj
Source: git https://github.com/wojiaojiao/pegasus_gazebo_plugins.git
For more information, please refer to：https://github.com/wojiaojiao/pegasus_gazebo_plugins
Introduction
The URDF served the ROS, it has several notable shortcomings.one is it does not support closed loop chains. The SDF served the gazebo, support closed loop chains - this can be achieved by allowing two different joints to have the same child link but different parents The closed_loop_plugin works after the robot model is converted from urdf to sdf, inserting a new joint into the SDF.
Building
In order to install the pegasus_gazebo_plugins, clone the latest version from this repository into your catkin workspace and compile the package using ROS.
cd catkin_workspace/src git clone https://github.com/wojiaojiao/pegasus_gazebo_plugins.git cd ../ catkin_make
Usage
This closed_loop_plugin just like a button that connects two joints
<joint>the name of the added joint
<child> the name that child coordinate of the added joint
<parent> the name that parent coordinate of the added joint
add to your robot.urdf:
<gazebo>
<plugin name="Myrobot_ClosedLoopPlugin" filename="libpegasus_gazebo_closed_loop_plugin.so">
<joint>add_joint</joint> <child>add_joint_child_link</child>
<parent>add_joint_parent_link</parent>
</plugin>
</gazebo>
note: You can change the position where two joints are connected in closed_loop_plugin.cpp
- math::Pose jointOrigin(x,y,z,roll,pitch,yaw);
math::Pose jointOrigin(0.00,0.00,0.00,0.00,-0.00,0.00);