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README.md	add a gazebo plugin	2021-02-28 21:39:29 +08:00
package.xml	add a gazebo plugin	2021-02-28 21:39:29 +08:00

README.md

roboticsgroup_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 1.0.
- 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. Takes no value: <hasPID/> means that the mimic joint is controlled via PID. Ommit it so that the mimic joint is controlled via setAngle.

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_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_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