Gazebo Fortress ECM documentation

Where can I find documentation on what the syntax/available methods are for using ECM in Ignition Gazebo Fortress, components and such. It is not on the official documentation, and reading source code does not help to the extent where I can just know what data is available. I do see that there is a DataType type when accessing data of a component, but still not sure what syntax is available. For example: if I wanted to change the acceleration of torque of a joint, where can I find the different ways to locate the joint, the syntax to access its properties, and what available properties it has, like velocity and such? Is there documentation that I'm missing? Sorry if I'm new to Gazebo and not immediately finding the way to design my own backend. Any help is appreciated

Asked by twSoulz on 2023-05-19 10:02:19 UTC

Comments

Answers

There's an open issue about adding such a tutorial, but direct interaction with the ECM is not well documented partly because we were hoping to provide convenience classes (similar to Gazebo-classic) that interact with the ECM for you. So, for working with joints, you can take a look at the Joint convenience class. If the class doesn't have all the APIs you need, you can take a look at the Joint implementation as an example.

Asked by azeey on 2023-05-20 11:17:09 UTC

Comments

I think another good starting point can be the joint_controller and joint_position_controller plugins.

It is the physics plugin that creates the joint entities and updates the component data in its UpdatePhysics and UpdateSim functions.

Asked by jrtg on 2023-05-26 08:43:23 UTC