这是urdf模型里面的transmission文件和控制器可能出错的地方,麻烦大佬指教。!!! 单独打开gazebo机械臂是可以初始状态的,一旦moveit+gazebo联合仿真,报错,机械臂倒下,rviz里出不来机械臂模型。
<xacro:macro name="transmission" params="prefix">
<transmission name="${prefix}joint_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}joint_1_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}joint_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
probot_anno:
arm_joint_controller:
type: "position_controllers/JointTrajectoryController"
joints:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
gains:
joint_1: {p: 100, i: 0.01, d: 10}
joint_2: {p: 100, i: 0.01, d: 10}
joint_3: {p: 100, i: 0.01, d: 10}
joint_4: {p: 100, i: 0.01, d: 10}
joint_5: {p: 100, i: 0.01, d: 10}
joint_6: {p: 100, i: 0.01, d: 10}
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