Controlling an articulated robot arm in Gazebo
The Modifications to the robot URDF section in Chapter 2, Creating Your First Two-Wheeled ROS Robot (in Simulation), describes changes that need to be made to the URDF model so that Gazebo recognizes it as an SDF. The next section identifies the changes needed for our robot arm, rrbot.
Adding Gazebo-specific elements
Specific elements unique to the Gazebo simulation environment are grouped into the following areas:
The
<material>tags are used to specify the Gazebo color or texture for each linkThe
<mu1>and<mu2>tags are used to define the friction coefficients for the contact surfaces of four of the robot's linksA plugin is added for control of the revolute joints of
rrbot(included here, but described in the Adding a Gazebo ROS control plugin section)
These specific Gazebo XML elements needed for simulation are split into a separate file labeled rrbot.gazebo, and an Xacro <include> statement is used in the main rrbot4...
