stewart - Simulating a Stewart platform in Gazebo using a plugin to allow control of a closed loop manipulator with ROS

  •        143

Because the Stewart platform is a closed loop manipulator, the description was written in SDF rather than URDF. However, ROS does not support SDF by default, so a plugin was written to make the joints in Gazebo visible to ROS. Here is a link to an in-progress generalized version of this plugin: https://github.com/daniel-s-ingram/ros_sdf.

https://github.com/daniel-s-ingram/stewart

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