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Gazebo plugin vs. pr2_mechanism

asked 2011-10-05 01:06:59 -0600

ZdenekM gravatar image


I would like to create simulation of simple robot and play with it little. I have (almost) working URDF model a now I have to write some controller. But I'm little bit confused...

First I tried to study how to write Gazebo controller (or plugin?), but documentation is quite poor. Now I'm studying pr2_mechanism stack - it's much better documented and looks like easier way for me.

So my question - what is main difference between robot controller written as Gazebo plugin or as pr2_controller? Which way is encouraged? Is there any important disadvantage when using pr2_controller? Is it possible to use just it without any gazebo plugin?

Thanks for any advice or opinion.

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answered 2011-10-05 07:06:51 -0600

DimitriProsser gravatar image

Using the pr2_mechanism model is preferred because it provides a ROS interace to Gazebo. Without this interface, you have no acess to the information from your ROS nodes. The pr2_mechanism stack provides some good tutorials for writing your own controller. A tutorial can be found here.

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Asked: 2011-10-05 01:06:59 -0600

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Last updated: Oct 05 '11