Matching Baxter origin in V-rep to Gazebo and Rviz

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atoz
Posts: 57
Joined: 18 Oct 2013, 09:02

Matching Baxter origin in V-rep to Gazebo and Rviz

Post by atoz » 20 Mar 2016, 20:07

Hi,

I can't seem to match the origin position of the Baxter robot in Vrep to that of the origin used by Gazebo and RViz for ROS. The result being that positions obtainable in one are n't in the other. Is there a way to sync their origin positions. Does Vrep use a different origin? Or is this because the Vrep model uses a different file to that of the URDF/SDF used in Gazebo and RViz?

Thanks

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: Matching Baxter origin in V-rep to Gazebo and Rviz

Post by coppelia » 21 Mar 2016, 16:04

Hello,

yes, the Baxter model in V-REP was created from scratch, using the original data received from the Baxter makers at that time. This means that various things could be configured in a different way, including joint limits or joint zero positions.

Cheers

atoz
Posts: 57
Joined: 18 Oct 2013, 09:02

Re: Matching Baxter origin in V-rep to Gazebo and Rviz

Post by atoz » 21 Mar 2016, 16:11

Thanks for confirming.

So is it possible to load a Baxter model from a URDF file in V-rep in a similar way to Gazebo?

Thanks

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: Matching Baxter origin in V-rep to Gazebo and Rviz

Post by coppelia » 21 Mar 2016, 16:18

If you have such a file, this should be possible by using the URDF import plugin. From this topic, it seems that the current plugin version causes some problems.

Cheers

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