Combining gazebo plugins (different ros controller)

asked 2019-03-28 16:51:52 -0500

steradiant gravatar image

updated 2019-03-28 17:06:51 -0500

Hello, I'm struggling with combining different gazebo plugins regarding ros controllers. I'm working with the following package ( https://github.com/epfl-lasa/kuka-lwr... ) which implements this gazebo controller plugin: https://github.com/epfl-lasa/kuka-lwr...

I want to extend the model now with some simple tools where I need just some "normal" controllers e.g. the EffortJointController form the standard ros gazebo plugin. Is there any possibility to combine them?

I've already tried to add both plugins, namely

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">

and

<plugin name="${name}_lwr_hw_sim" filename="liblwr_hw_gazebo_plugin.so">

but that hasn't worked.

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