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)
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).