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Combining gazebo plugins (different ros controller)

Hello, I'm struggling with combining different gazebo plugins regarding ros controllers. I'm working with the following package ( https://github.com/epfl-lasa/kuka-lwr-ros ) which implements this gazebo controller plugin: https://github.com/epfl-lasa/kuka-lwr-ros/blob/master/kuka_lwr/lwr_hw/src/lwr_hw_gazebo_plugin.cpp

I want to extend the model now with some simple tools where I need just some "normal" controllers e.g. the EffortJointController form the standard ros gazebo plugin. Is there any possibility to combine them?

Combining gazebo plugins (different ros controller)

Hello, I'm struggling with combining different gazebo plugins regarding ros controllers. I'm working with the following package ( https://github.com/epfl-lasa/kuka-lwr-ros ) which implements this gazebo controller plugin: https://github.com/epfl-lasa/kuka-lwr-ros/blob/master/kuka_lwr/lwr_hw/src/lwr_hw_gazebo_plugin.cpp

I want to extend the model now with some simple tools where I need just some "normal" controllers e.g. the EffortJointController form the standard ros gazebo plugin. Is there any possibility to combine them?

I've already tried to add both plugins, namely <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> and <plugin name="${name}_lwr_hw_sim" filename="liblwr_hw_gazebo_plugin.so"> but that hasn't worked.

Combining gazebo plugins (different ros controller)

Hello, I'm struggling with combining different gazebo plugins regarding ros controllers. I'm working with the following package ( https://github.com/epfl-lasa/kuka-lwr-ros ) which implements this gazebo controller plugin: https://github.com/epfl-lasa/kuka-lwr-ros/blob/master/kuka_lwr/lwr_hw/src/lwr_hw_gazebo_plugin.cpp

I want to extend the model now with some simple tools where I need just some "normal" controllers e.g. the EffortJointController form the standard ros gazebo plugin. Is there any possibility to combine them?

I've already tried to add both plugins, namely namely

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
and

and

<plugin name="${name}_lwr_hw_sim" filename="liblwr_hw_gazebo_plugin.so">

but that hasn't worked.