Applied Force State Plugin XML Reference and Example
[Gazebo ROS Dynamic Plugins]

FIXME: Applied Force Feedback controller. More...

Collaboration diagram for Applied Force State Plugin XML Reference and Example:

Classes
class	gazebo::GazeboRosF3D
	GazeboRosF3D controller This is a controller that simulates a 6 dof force sensor. More...

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Detailed Description

FIXME: Applied Force Feedback controller.

This is a controller that gathers applied force data from a Body and populates a libgazebo interfaace as well as publish a ROS geometry_msgs::WrenchStamped message (under topicName). This controller should only be used as a child of a Model. Below is an example of the usage of this plugin.

  <model:physical name="camera_model">
    <controller:gazebo_ros_f3d name="f3d_finger_tip_l_left_controller" plugin="libgazebo_ros_f3d.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>finger_tip_l_left</bodyName>
        <topicName>finger_tip_l_left_ground_truth</topicName>
        <frameName>map</frameName>
        <interface:position name="f3d_finger_tip_l_left_position" />
    </controller:gazebo_ros_f3d>
  </model:phyiscal>