Gazebo | Ignition | Community

1

Joint Controller Plugin for Gazebo

asked 2013-01-14 19:19:35 -0600

davetcoleman
369 ●10 ●17 ●25

updated 2013-01-14 19:20:05 -0600

Hi,

I'm looking for a Gazebo 1.3 plugin that will allow me to send joint commands to my simulated robot arm described in SDF format. Does something like this already exist? The closest thing I've found for Gazebo 1.3 is the "gazebo pid joints" tutorial, but it is a very limited demo and I would need to put in a lot of work to make it into a fully ROS-ready controller for multiple joints. This Controller would be ideal except it has not been ported to the new SDF format and Gazebo version. Its source code is here. This must have already been done though, so I don't want to re-invent the wheel.

Thanks!

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted

2

answered 2013-06-26 14:28:19 -0600

davetcoleman
369 ●10 ●17 ●25

updated 2013-06-26 14:28:43 -0600

I've made a ros_control_gazebo plugin to fix this problem.

edit flag offensive delete link

1

answered 2013-01-17 11:58:37 -0600

Daehyung Park
47 ●9 ●11 ●13

updated 2013-01-17 11:59:49 -0600

I am using default pr2 controller used in '/opt/ros/fuerte/stacks/pr2simulator/pr2gazeboplugins/src/gazeboroscontrollermanager.cpp'.

Since we are using different version of Gazebo, so I carefully ported it into my ros-enabled plugin.

So, my pr2 in Gazebo1.3 is controlled by ROS fuerte.

edit flag offensive delete link

Comments

1

Awesome, would you like to share this work?

dbworth ( 2013-01-17 14:02:24 -0600 )edit

I will share it soon. Please wait.

Daehyung Park ( 2013-01-30 21:24:02 -0600 )edit

Login/Signup to Answer

Question Tools

2 followers

Stats

Asked: 2013-01-14 19:19:35 -0600

Seen: 1,375 times

Last updated: Jun 26 '13

Related questions

Copyright Askbot, 2010-2011. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.7.58