Universal Robotic Description Format Specification *Transmission*
本章是urdf系列第四讲,关于Transmission,可以被gazebo识别, 注意需要
gazebo_ros_control 配合 还要 config yaml配合。
Transmission
The transmission element is an extension to the URDF robot description model that is used to describe the relationship between an actuator and a joint. This allows one to model concepts such as gear ratios and parallel linkages. A transmission transforms efforts/flow variables such that their product - power - remains constant. Multiple actuators may be linked to multiple joints through complex transmission.
<transmission name="simple_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="foo_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="foo_motor">
<mechanicalReduction>50</mechanicalReduction>
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>
注意:
(1). name attribute in transmission is required and unique.
(2). type is one occurrence and it specifies the transmission type.
(3). joint is one or more occurrences A joint the transmission is connected to joint by name, it also has a sub-elements: hardwareInterface.
(4). hardwareInterface is one or more occurrences and it can be select here
(5). the value of hardwareInterface should be EffortJointInterface when this transmission is loaded in Gazebo and hardware_interface/EffortJointInterface when this transmission is loaded in RobotHW. 只用过EffortJointInterface在gazebo ,没试过在真正的RobotHW。
(6). actuato is one or more occurrences and means an actuator the transmission is connected to. The actuator is specified by its name attribute, and the following sub-elements: mechanicalReduction, hardwareInterface.
(7). mechanicalReduction optional Specifies a mechanical reduction at the joint/actuator transmission.
(8). hardwareInterface optional Specifies a supported joint-space hardware interface. EffortJointInterface value selection here.