nlamprian
commented
3 years ago Hi, there are typos in the xml snippet you shared. I assume those are not present in the original description. Having said that, here are some points to take care of:
- there are no name_prefix parameter in the mimic plugin; remove it
- the range of the joints is only 5mm (I assume that's wrong)
- you probably don't need to be concerned with the multiplier; remove it
- you have has_pid to true; you need to either set it to false or provide pid gains and set a similar effort in the joints
ckashis
Hi, I have one doubt in implementing mimic joints for prismatic joints. I created a gripper joint and a mimic joint for that. When doing simulations, the joints should come closer to grasp the object. But I don't know how to use the multiplier in mimic joints. I visualized it in RViz and it is working fine. When I included the Gazebo plugin, I came across the attribute multiplier again. Does it have an effect on moving the joints? I tried some possibilities but while visualizing in Gazebo, the mimic joint was not moving. The description of the joints are given below. Please help me to solve the issue.
<joint name="right_gripper" type="prismatic"><origin xyz="-0.0636850931937402 -0.0249247286009447 -0.297020356637698" rpy="0 0 0" /><parent link="r3" /><child link="right_gripper" /><axis xyz="-1 0 0" /><limit lower="0" upper="0.005"effort="1000.0" velocity="0.5" /><dynamics damping="0.02" friction="0.0" ></joint><joint name="ac2" type="prismatic"><origin xyz="-0.0961743681871238 -0.0249118761291195 -0.297505666137289" rpy="0 0 0" /><parent link="r3" /><child link="ac2" /><axis xyz="1 0 0" /><limit lower="0" upper="0.005" effort="1000.0" velocity="0.5" /><mimic joint="right_gripper" multiplier="1" offset="0" /><dynamics damping="0.02" friction="0.0" /></joint><xacro:mimic_joint_plugin_gazebo name_prefix="ac2" parent_joint="right_gripper" mimic_joint="ac2 has_pid="true" multiplier="1.0" max_effort="10.0" />