gazebo::GazeboJointProperties Struct Reference

GazeboRosActuatorArray controller. More...

#include <gazebo_ros_actuator_array.h>

Inheritance diagram for gazebo::GazeboJointProperties:

List of all members.

Public Attributes
double	home_position
int	joint_index
gazebo::Joint *	joint_ptr
control_toolbox::Pid	pid
double	position

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Detailed Description

GazeboRosActuatorArray controller.

• Starts a ROS node if none exists.
• 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>
   

Definition at line 175 of file gazebo_ros_actuator_array.h.

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Member Data Documentation

double gazebo::GazeboJointProperties::home_position

Definition at line 181 of file gazebo_ros_actuator_array.h.

int gazebo::GazeboJointProperties::joint_index

Definition at line 177 of file gazebo_ros_actuator_array.h.

gazebo::Joint* gazebo::GazeboJointProperties::joint_ptr

Definition at line 178 of file gazebo_ros_actuator_array.h.

control_toolbox::Pid gazebo::GazeboJointProperties::pid

Definition at line 179 of file gazebo_ros_actuator_array.h.

double gazebo::GazeboJointProperties::position

Definition at line 180 of file gazebo_ros_actuator_array.h.

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The documentation for this struct was generated from the following file:

• gazebo_ros_actuator_array.h