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Joint Controller Plugin for Gazebo

asked 2013-01-14 19:19:35 -0500

davetcoleman
369 ●10 ●17 ●25

updated 2013-01-14 19:20:05 -0500

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!

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answered 2013-06-26 14:28:19 -0500

davetcoleman
369 ●10 ●17 ●25

updated 2013-06-26 14:28:43 -0500

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

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answered 2013-01-17 11:58:37 -0500

Daehyung Park
47 ●9 ●11 ●13

updated 2013-01-17 11:59:49 -0500

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.

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Comments

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Awesome, would you like to share this work?

dbworth ( 2013-01-17 14:02:24 -0500 )edit

I will share it soon. Please wait.

Daehyung Park ( 2013-01-30 21:24:02 -0500 )edit

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Asked: 2013-01-14 19:19:35 -0500

Seen: 1,389 times

Last updated: Jun 26 '13

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