How to actuate the ball joint in Gazebo?
I want to actuate the ball joint in Gazebo for my academic project. The ball joint is supported only in sdf format, and the gazebo_ros_control package which is used for actuating the joints is used with the URDF description of robot. So, how should proceed to solve this issue? PS: I cannot use set_link_state topic as I want to have arbitrary movement of the joint. Currently i am using a single sdf file describing the simulation world including robot model. If I include the plugin tag in the sdf file, the simulations does not run and I get following output in terminal.
SUMMARY
PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.13 * /use_sim_time: True
NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient)
auto-starting new master process[master]: started with pid [6312] ROS_MASTER_URI=http://localhost:11311
setting /run_id to ae7ae190-b71b-11ea-ac5f-7c67a2ef732e process[rosout-1]: started with pid [6325] started core service [/rosout] process[gazebo-2]: started with pid [6332] process[gazebo_gui-3]: started with pid [6344]
