Can you be requested to let me know how I can build a software robot from scratch and simulate in ROS Gazebo (without any pre-existing package)? I am trying to extend [Erle Robotics](http://docs.erlerobotics.com/simulation/configuring_your_environment) Tutorials' simulation to multi-drone simulation and [that is causing a lot of issues including some strange issues with software-tools like roswtf](http://answers.ros.org/question/249450/roswtf-unexpectedly-connected-message-and-creation-of-new-nodes/).
So, in an attempt to reduce the problem statement to bare-minimum, I have decided to simulate three links and two joints which represent human-hand. I can create three 3D models (using Blender). One will be one 'thin' cylinder with a base plate attached and other two will be 'thin cylinders'. I can then link STL using URDF file as mentioned in [this tutorial](http://wiki.ros.org/urdf/XML/link). But, what I am failing to understand is how I can actuate the joints using C++ code.
Optionally, it will be great if you can let me know how I can extend C++ code with custom wrappers for Python/how I can create command-line ROS service called through relatively minimal YAML file to actuate two joints (I can call system functions through some script/code).
I badly need a solution for this and any help will be **greatly and whole-heartedly appreciated**. Thanks for your time and consideration.
Humble note: I have read tutorials on [XML](http://wiki.ros.org/urdf/XML) and [URDF Tutorials](http://wiki.ros.org/urdf/Tutorials/). I read [URDF Controller Example](http://wiki.ros.org/pr2_mechanism/Tutorials/SImple%20URDF-Controller%20Example) and I did not understand data-type of "wheel1_state" variable and why I should use pr2 packages (I would like to see custom package) and other tutorials like [robot_state_publisher](http://wiki.ros.org/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher) do not describe the actuation of joints.
↧