In this chapter a Robot arm model will be defined. Refer to Gazebo chapter for simulation.
We will continue the model started in the introductory chapter on urdf.
We will create a new package called scara_g3_description
.
cd workspace/src/Robots catkin_create_pkg scara_g3_description geometry_msgs urdf rviz xacro cd scara_g3_description mkdir launch urdf meshes rviz scripts
A transmission macro is created:
<xacro:macro name="transmission_block" params="joint_name">
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:transmission_block joint_name="joint_name1"/>
<xacro:transmission_block joint_name="joint_name2"/>
<xacro:transmission_block joint_name="joint_name3"/>
transmission_interface/SimpleTransmission
is the only interface supported.
The hardwareInterface
could be position, velocity, or effort interfaces. In this case we choose PositionJointInterface
.
The hardware interface will be loaded by gazebo_ros_control
plugin. Refer to Gazebo chapter for more information about this plugin.
Refer to Gazebo chapter.