added a simple model controller plugin that uses a twist message #90
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I'll reopen this in a second. I forgot to test odometry publication. |
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| #ifndef GAZEBO_ROS_MODEL_CONTROLLER_5DRC9ADD | ||
| #define GAZEBO_ROS_MODEL_CONTROLLER_5DRC9ADD |
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What is 5DRC9ADD ? Typically you use the pkg name then file name.
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I can change it. I have a script that adds the anonymizer.
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I've fixed some problems and reopened the request. Let me know what you guys think about adding this plugin. I do use it frequently in gazebo as an alternate robot controller, and for moving entities which are not dynamically suited to move around in space (I have external human controlled observers in the simulation environment). Thanks! |
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The plugin name should convey its functionality. Can this plugin be renamed to something like: gazebo_ros_planar_move? |
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+1 |
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Done. On Thu, Aug 1, 2013 at 4:23 PM, Dave Coleman notifications@github.comwrote:
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Can you first write the description and xml example on this page so I can try it out? Thanks again for doing this! |
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I have documented this here: http://gazebosim.org/wiki/Tutorials/1.9/ROS_Motor_and_Sensor_Plugins#Planar_Move_Plugin I have written a sample URDF, but I cannot test it right now. Let me know if something does not work. |
added a simple model controller plugin that uses a twist message
added a simple model controller plugin that uses a twist message
This controller can be used to move any entity on the XY plane as long as it has a high enough inertia. I use it when I have to spawn a large number of robots in simulation. I give the robots a cylindrical collision model, high inertia with a center of mass located close to the ground. This controller gives a fair amount of speedup in comparison to simulating the complete model and a differential drive controller.