XML Reference and Example

Ros Gazebo Ros MimicJoint Plugin. This model allow to mimic a joint without the use of the dynamics. More...

Classes
class	cob_gazebo_ros_control::MimicJoint
	MimicJoint plugin This plugin allows to simulate mimic joints in gazebo. More...

Functions
void	cob_gazebo_ros_control::MimicJoint::Load (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the controller. More...
void	cob_gazebo_ros_control::MimicJoint::OnUpdate ()
	Update the controller. More...

Variables
gazebo::physics::JointPtr	cob_gazebo_ros_control::MimicJoint::joint_
	A pointer to the Gazebo joint. More...
std::string	cob_gazebo_ros_control::MimicJoint::joint_name_
	store bodyname More...
gazebo::physics::JointPtr	cob_gazebo_ros_control::MimicJoint::mimic_joint_
	A pointer to the Gazebo joint. More...
std::string	cob_gazebo_ros_control::MimicJoint::mimic_joint_name_
	store name of mimic joint More...
gazebo::physics::ModelPtr	cob_gazebo_ros_control::MimicJoint::model_
	A pointer to the Gazebo model. More...
double	cob_gazebo_ros_control::MimicJoint::multiplier_
	multiplier More...
double	cob_gazebo_ros_control::MimicJoint::offset_
	offset More...
gazebo::event::ConnectionPtr	cob_gazebo_ros_control::MimicJoint::update_connection_

Detailed Description

Ros Gazebo Ros MimicJoint Plugin. This model allow to mimic a joint without the use of the dynamics.

Example Usage:

<gazebo>
  <plugin name="mimic_joint" filename="libgazebo_ros_mimic_joint.so">
    <jointName>joint_name</jointName>
    <mimicJoint>mimic_joint_name</mimicJoint>
    <multiplier>1.0</multiplier>
    <offset>0.0</offset>
    <pgain>1.0</pgain>
  </plugin>
</gazebo>

Function Documentation

Load()

void cob_gazebo_ros_control::MimicJoint::Load	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Load the controller.

Definition at line 6 of file gazebo_ros_mimic_joint.cpp.

OnUpdate()

void cob_gazebo_ros_control::MimicJoint::OnUpdate

(

)

Update the controller.

Definition at line 63 of file gazebo_ros_mimic_joint.cpp.

Variable Documentation

joint_

gazebo::physics::JointPtr cob_gazebo_ros_control::MimicJoint::joint_

private

A pointer to the Gazebo joint.

Definition at line 57 of file gazebo_ros_mimic_joint.h.

joint_name_

std::string cob_gazebo_ros_control::MimicJoint::joint_name_

private

store bodyname

Definition at line 51 of file gazebo_ros_mimic_joint.h.

mimic_joint_

gazebo::physics::JointPtr cob_gazebo_ros_control::MimicJoint::mimic_joint_

private

A pointer to the Gazebo joint.

Definition at line 60 of file gazebo_ros_mimic_joint.h.

mimic_joint_name_

std::string cob_gazebo_ros_control::MimicJoint::mimic_joint_name_

private

store name of mimic joint

Definition at line 54 of file gazebo_ros_mimic_joint.h.

model_

gazebo::physics::ModelPtr cob_gazebo_ros_control::MimicJoint::model_

private

A pointer to the Gazebo model.

Definition at line 45 of file gazebo_ros_mimic_joint.h.

multiplier_

double cob_gazebo_ros_control::MimicJoint::multiplier_

private

multiplier

Definition at line 63 of file gazebo_ros_mimic_joint.h.

offset_

double cob_gazebo_ros_control::MimicJoint::offset_

private

offset

Definition at line 66 of file gazebo_ros_mimic_joint.h.

update_connection_

gazebo::event::ConnectionPtr cob_gazebo_ros_control::MimicJoint::update_connection_

private

Definition at line 48 of file gazebo_ros_mimic_joint.h.