Interface

GazeboRosActuatorArray controller. More...

Collaboration diagram for Interface:

Classes
struct	gazebo::GazeboJointProperties
	GazeboRosActuatorArray controller. More...
class	gazebo::GazeboRosActuatorArray
struct	gazebo::MimicJointProperties

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Detailed Description

GazeboRosActuatorArray controller.

This controller requires to a model as its parent. This plugin controls a number of independent actuators (probably in some sort of kinematic chain), where each actuator accepts a position command. Such things as a Pioneer Arm or Manoi may be modeled with such. Each actuator is controlled inside Gazebo with a PID loop (courtesy of control_toolbox::Pid). This PID can be tuned to match the performance of the real system. This controller publishes the state of each actuator via sensor_msgs::JointState messages to the {robot_namespace}/joint_states topic, and receives joint commands via a sensor_msgs::JointState message on the {robot_namespace}/command topic.

When specifying the controller, each joint that is to be controlled should be placed inside a <joint> tag. The joint name (required), home position (optional), and PID parameters (optional) are specified inside each <joint> block. See below for an example. Maximum joint efforts (forces/torques), and joint velocities are read from the URDF/robot definition.

Example Usage:

 <model:physical name="some_fancy_model">
   <controller:gazebo_ros_actuator_array name="actuator_array_controller" plugin="libgazebo_ros_actuator_array.so">
     <alwaysOn>true</alwaysOn>
     <updateRate>30.0</updateRate>
     <robotParam>robot_description</robotParam>
     <joint>
       <name>joint01</name>
       <home>0.0</home>
       <p>10.0</p>
       <i>0.0</i>
       <d>0.0</d>
       <iClamp>0.0</iClamp>
     </joint>
     <joint>
       <name>joint02</name>
       <home>1.57080</home>
       <p>20.0</p>
       <i>0.0</i>
       <d>0.0</d>
       <iClamp>0.0</iClamp>
     </joint>
     <joint>
       <name>joint03</name>
       <home>3.14159</home>
       <p>10.0</p>
       <i>0.0</i>
       <d>2.0</d>
       <iClamp>0.0</iClamp>
     </joint>
   </controller:gazebo_ros_actuator_array>
 </model:physical>