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Gazebo 1.2~1.3 Plugin for ROS

I am trying to use PR2 with new gazebo 1.3 on ubuntu 12.04 and ros-fuerte. The specific purpose is to test contact sensors all over the robot surface (tactile sensing).

As long as I know gazebo 1.3 is stand alone program, so I need ROS-Enabled Gazebo Model Plugin for PR2.

From below link's answer, I read that there is no plugin for PR2 now. If my understanding is correct, I have to make my own plugin over entire PR2 functions. Is it correct? or Does it mean impossible to make the plugin for ros now?