jmz3 / gazebo_cable

A Controllable Cable/Rope/Chain Dynamics Model in Gazebo

Gazebo_cable

A gazebo model of a cable with a hook at the end. Ideally used for simulating any kind of linear deformable object.

Usage

To use this model, clone this repository into your workspace and compile it using catkin_make or catkin build.

The model has a fixed end and a free end. A velocity controller controls the free end and the position target can be defined using Cartesian coordinates.

Use the launch file to spawn the model in gazebo. It contains the model spawner and a target publisher node that can move the end of the cable in the x, y, and z directions.