This package has been deprecated. For the latest updates, visit roboticsgroup_upatras_gazebo_plugins.
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.
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XML Parameters
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joint (Required)
A string specifying the name of the joint to be mimic-ed.
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mimicJoint (Required)
A string specifying the name of the mimic joint.
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multiplier
A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0.
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offset
A double specifying the offset parameter of the mimic joint. Defaults to 0.0.
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maxEffort
A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model.
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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".
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robotNamespace
A string specifying the namespace the robot is under. Defaults to "".
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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.
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A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.
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XML Parameters
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link (Required)
A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.
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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
If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.
BSD
Copyright (c) 2014, Konstantinos Chatzilygeroudis