Hi,
I have a robot with multiple tools that can be hot-swapped during operation. Now I want to implement this tool changing also in gazebo (gazebo >= 6) but I'm not really sure what the best way is to achieve this.
Both `robot` and `tool` model are spawned individually based on a URDF description. When the tool shall be changed, I will probably delete the `tool` model, spawn the new `tool` model and then link `tool` and `robot` together.
These are the approaches that I have stumbled upon so far:
- Link the two models by joining them with a fixed joint
- `tool` model needs to have exact pose before doing this
- Attach the `tool` as static model via ```physics::Model::AttachStaticModel()``` to the `robot` model
- `tool` model has only fixed joints, but if spawned as URDF it is not shown as static in gazebo
- Add the `tool` model as sub model to the `robot` model (nested models)
- possible on the fly? If so, how to specify the pose?
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