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Hi, screpeters.

Ok, but I'm not able to obtain more than a joint name from xacro file. I made this in my xacro file :

<gazebo>
    <plugin name="motor_spring" filename="/home/gabriele/gazebo_plugin_tutorial/build/libmotor_spring_plugin.so"> 
    <alwaysOn>true</alwaysOn>
    <NumJoint> 2 <NumJoint>
    <JointName>joint1 , joint2</JointName>
</plugin>

</gazebo>

But I can't obtain a vector of string in my plugin. How I can get a list of joints name? I used std::vector<std::string>, but it's not true. Thank you!