I try to make a robot with dynamixel and some kinds of frame which i made.
this robot is some special because I use rack-gear frame and pinion gear in my robot.
Like this one :
I want to use robot_state_publisher and It use kdl_paser using urdf.
My problem is I don't know How I make urdf file.
normally, robot actuators are connect directly using joint or frame. and I already did urdf tutorial, and make some robot arms like open maniulator.
but if world base have rack gear and link1 moves on rack gear, I don't know to define urdf file.
Could I get a solution about this problem?
or get a tutorial or insight?
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