[Documentation] [TitleIndex] [WordIndex

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Pendulum Examples

Description: Simple pendulums examples.

Tutorial Level: INTERMEDIATE

simulator_gazebo/Tutorials/single_link_snapshot.png

A very simple single link example. The single link is attached to the world via a hinge joint.

In order to run this demo, please run the following roslaunch files in separate windows:

A controller named test_controller is loaded by default, try

and you should see the following output:

To send a position command to the test_controller, publish the desired position using the rostopic command

To visualize in rviz, make sure pr2_controller_manager is compiled

and start robot_state_publisher by issuing the following command:

then make sure rviz is compiled and start rviz:

Finally, set Fixed Frame to base_block under Global Options panel. simulator_gazebo/Tutorials/single_link_rviz_snapshot.png

simulator_gazebo/Tutorials/dual_link_snapshot.png
A simulation of two links attached by a single hinge joint - a simple pendulum.

In order to run this demo, please run the following roslaunch files in separate windows:

simulator_gazebo/Tutorials/multi_link_snapshot.png
A simulation of multiple links attached by hinge joints.

In order to run this demo, please run the following roslaunch files in separate windows:



2019-12-07 12:58