noetic

• Source: git https://github.com/tu-darmstadt-ros-pkg/gazebo_ros_control_select_joints (branch: master)

Overview

Gazebo ros_control plugin that allows for selecting the controlled joints (unlike the standard gazebo_ros_control which grabs all transmissions available in the model)

Installation

Using conda:

conda install -c robostack ros-noetic-gazebo-ros-control-select-joints

Using apt:

sudo apt-get install os-noetic-gazebo-ros-control-select-joints

From source:

git clone https://github.com/tu-darmstadt-ros-pkg/gazebo_ros_control_select_joints.git

Usage

The usage of this plugin is very similar to the original gazebo_ros_control plugin, which documentation can be found here

To use the plugin, add the following to your robot's URDF:

<gazebo>
  <plugin name="gazebo_ros_control_select_joints" filename="libgazebo_ros_control_select_joints.so">
    <robotNamespace>NAMESPACE</robotNamespace>
    <joints>joint_1 joint_2 joint_3</joints>
  </plugin>
</gazebo>

with <joints> tag being the feature brought by this package. It expects a space separated list of joint names.

If no <joints> tag is specified, or if the list is empty, the plugin simply grabs all transmissions available in the model (as the standard gazebo_ros_control would do).