Implementing Mimic joint plugin

Edvards_Zakovskis · April 8, 2022, 11:41am

Hello, i am trying to make a plugin for mimic joints. ( Because a lot of official urdf’s uses them like robotiq 2f_140 which i am trying to make it work.
This is my code repo:

I think the problem is that i am trying to change joint position with JointPositionReset and it brakes physics and then crashes after a while
Is there any other possible way to do this?

Also this plugin has already been implemented in gazeebo classic:

github.com

roboticsgroup/roboticsgroup_gazebo_plugins/blob/master/src/mimic_joint_plugin.cpp

/**
Copyright (c) 2014, Konstantinos Chatzilygeroudis
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EmperorSoda · March 18, 2024, 3:14am

Hello,I am a student from Taiwan.
I have same question with mimic joint of robotiq_85.

how do i apply the ros2_control of mimic joint to gazebo harmonic?
do any lib or sucess build of mimic joint made by sdformat?
or how can i use mimic joint in gazebo harmonic in sdformat?
version
ubuntu 22.04
gazebo harmonic
ros2 humble
model
robotiq_85
ur5

yjphhw · May 9, 2024, 7:54am

in harmonic, mimic joint has been implemented.

you can see a file mimic*.sdf in /usr/share/gz/gz-sim8/worlds/ directory.

you read the sdf file and you can run and test, then use it in you project.

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Implementing Mimic joint plugin

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