GetJointController() equivalent function for a link to handle control to links

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Yes, I figured that out, thank you! But I've run into another problem:

So I'm using the same model (http://models.gazebosim.org/polaris_r...). In my plugin, I'm using GetJoint() command to read the joint, and then using SetForce() command:

physics::JointPtr rear_left_wheel_joint=this->model->GetJoint("rear_left_wheel_joint"); rear_left_wheel_joint->SetForce(0,20.0);

Somehow, GetJoint command doesn't work, and a null ptr is being returned. Any idea where I'm going wrong?

The correct way of getting a joint is following: std::string joint_ptr_name = this->model->GetName() + "::" + this->joint_name; this->joint_ptr_ = this->model->GetJoint(joint_ptr_name);

std::string joint_ptr_name = this->model->GetName() + "::" + this->joint_name;

this->joint_ptr_ = this->model->GetJoint(joint_ptr_name);

Since I've never come across this kind of declaration ever, I have a silly doubt-Do you declare the name of the joint(from model) within the double quotes in first line, in place of the "::"? Or rather, could you briefly explain what the right hand side of the declaration in the first line means?

@mukund24, I suggest you start new questions instead of asking follow ups in comments. Make sure each question is clearly scoped to a specific issue you're having. And when a question has been successfully answered, mark it as accepted so other users can benefit from it.

Sorry I didn't have time back then to rewrite it into your context. This code below should be directly applicable in your code as you described it.

std::string joint_ptr_name = this->model->GetName() + "::" + "rear_left_wheel_joint";
physics::JointPtr rear_left_wheel_joint=this->model->GetJoint(joint_ptr_name); 
rear_left_wheel_joint->SetForce(0,20.0);

The point is to preface the joint name with the model name.

Works perfectly! Thank you, @kumpakri and @chapulina!