roboticsgroup_upatras_gazebo_plugins

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roboticsgroup_upatras_gazebo_plugins

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roboticsgroup_upatras_gazebo_plugins
====================================

Collection of small gazebo plugins
----------------------------------

MimicJointPlugin
----------------

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.

- *XML Parameters*

- joint (Required)

A **string** specifying the name of the joint to be mimic-ed.

- mimicJoint (Required)

A **string** specifying the name of the mimic joint.

- multiplier

A **double** specifying the multiplier parameter of the mimic joint. Defaults to 1.0.

- offset

A **double** specifying the offset parameter of the mimic joint. Defaults to 0.0.

- maxEffort

A **double** specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model.

- 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".

- robotNamespace

A **string** specifying the namespace the robot is under. Defaults to "".

- 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.

DisableLinkPlugin
-----------------

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

- *XML Parameters*

- link (Required)

A **string** specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

### Hoping to add more plugins....

Usage
------

Standard Gazebo plugin import inside xacro/urdf. Use **libroboticsgroup_upatras_gazebo_** prefix. E.g. if you want to import MimicJointPlugin:

```
libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so
```

Notes
------

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License
----

BSD

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