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2017-11-07 02:39:50 -0500 asked a question How to open the PR2 gripper?

How to open the PR2 gripper? PR2 gripper from Gazebo model library has a joint for controlling how wide should be the ga

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2017-06-07 15:36:07 -0500 asked a question What is the physics::Gripper class for?

What is the physics::Gripper class for? What's the purpose of physics::Gripper class? How to use it? Can it be used dire

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2017-04-25 06:31:15 -0500 marked best answer How to create a joint with sensor programatically?

I'm trying to create a joint from a plugin code that would look as follows:

<joint name="joint_a_b" type="revolute">
    <parent>link_a</parent>
    <child>link_b</child>
    ...
    <sensor name="force_torque_a_b" type="force_torque">
        <always_on>true</always_on>
        <update_rate>1000</update_rate>
        <plugin name="breakable_a_b" filename="libBreakableJointPlugin.so">
            <breaking_force_N>1</breaking_force_N>
        </plugin>
    </sensor>
</joint>"

I was able to create the joint using physicsEngine->CreateJoint() and setting it's properties directly on the Joint object. However, I can't figure out how to attach a sensor to it. A sensor that uses a plugin. I tried to create the whole thing by creating an SDF object with the above XML and passing it to Joint::Load() method. But because that XML is not a full world or model description it get's rejected.

I also tried to make some sense out of sensors::create_sensor but I got stuck on the same problem with XML.

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2017-04-20 07:23:13 -0500 asked a question How to create a joint with sensor programatically?

How to create a joint with sensor programatically? I'm trying to create a joint from a plugin code that would look as fo

2017-04-20 03:00:21 -0500 marked best answer Why joints have only one pose?

I noticed that in a joint we can only specify an attachment offset for a child. For parent the attachment of the joint seems to be always in the parent's frame origin. Why is that so? Is it useless to have parent offset? Is the length/offset/distance of a newly created joint determined at the moment of it's creation?

I'm working with SDF 1.4 and trying to make joints dynamically from a plugin.

2017-04-19 15:24:43 -0500 asked a question Why joints have only one pose?

Why joints have only one pose? I noticed that in a joint we can only specify an attachment offset for a child. For paren

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2017-04-07 03:11:30 -0500 commented answer How to enable debugging for a plugin?

Thank you for your exhaustive answer. I could only add a clarification for future readers that if we want to debug only the plugin we're working on, we don't need to compile whole gazebo with debug symbols. Just a plugin is enough. We do this by using `cmake -DCMAKE_BUILD_TYPE=Debug ..` I have managed to set breakpoints in my plugin on standard, binary gazebo installation. Graphical debugging through an IDE also works well.

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2017-04-04 09:43:41 -0500 asked a question How to enable debugging for a plugin?

I've created a plugin by following a tutorial from Gazebo website. Now I'd like to take it further but it is difficult to work without being able to set breakpoints and inspect variables. What steps do I have to do in order to be able to set breakpoints in my code?