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added a simple model controller plugin that uses a twist message #90

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@piyushk
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commented Jul 29, 2013

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.

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commented Jul 29, 2013

I'll reopen this in a second. I forgot to test odometry publication.

@piyushk piyushk closed this Jul 29, 2013

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commented Jul 29, 2013

@gerkey this sounds like player/stage functionality, can you weight in on adding this new plugin?

@nkoenig

*/

#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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piyushk Jul 29, 2013

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I can change it. I have a script that adds the anonymizer.

@piyushk piyushk reopened this Jul 29, 2013

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commented Jul 29, 2013

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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commented Aug 1, 2013

The plugin name should convey its functionality. Can this plugin be renamed to something like: gazebo_ros_planar_move?

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commented Aug 1, 2013

+1

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commented Aug 1, 2013

Done.

On Thu, Aug 1, 2013 at 4:23 PM, Dave Coleman notifications@github.comwrote:

+1


Reply to this email directly or view it on GitHubhttps://github.com//pull/90#issuecomment-21970831
.

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commented Aug 2, 2013

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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commented Aug 2, 2013

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.

davetcoleman added a commit that referenced this pull request Aug 2, 2013

Merge pull request #90 from piyushk/add_model_controller
added a simple model controller plugin that uses a twist message

@davetcoleman davetcoleman merged commit 817fc39 into ros-simulation:hydro-devel Aug 2, 2013

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