roboticsgroup_upatras_gazebo_plugins repository

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-08-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-08-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-08-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CONTRIBUTING

No CONTRIBUTING.md found.