gazebo_ros_control_select_joints

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)

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

If no <joint> 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).