Controlling Gazebo Cessna Plane with ROS
Hi. https://answers.ros.org/questions/sco... I am new to Gazebo and ROS and i want to control the example Cessna plane in Gazebo using ROS.
I am starting the Gazebo using following command:
gazebo --verbose worlds/cessna_demo.world
It allows me control the plane with keyboard input.
But i want to control the plane with ROS (rospy and python).
In the world file there is a plugin:
<!-- Plugins for controlling the thrust and control surfaces -->
<plugin name="cessna_control" filename="libCessnaPlugin.so">
<propeller>cessna_c172::propeller_joint</propeller>
<propeller_max_rpm>2500</propeller_max_rpm>
<left_aileron>cessna_c172::left_aileron_joint</left_aileron>
<left_flap>cessna_c172::left_flap_joint</left_flap>
<right_aileron>cessna_c172::right_aileron_joint</right_aileron>
<right_flap>cessna_c172::right_flap_joint</right_flap>
<elevators>cessna_c172::elevators_joint</elevators>
<rudder>cessna_c172::rudder_joint</rudder>
<propeller_p_gain>10000</propeller_p_gain>
<propeller_i_gain>0</propeller_i_gain>
<propeller_d_gain>0</propeller_d_gain>
<surfaces_p_gain>2000</surfaces_p_gain>
<surfaces_i_gain>0</surfaces_i_gain>
<surfaces_d_gain>0</surfaces_d_gain>
</plugin>
How can i edit this so i can control the plane with ROS?
Thanks...
Hi, if you have solved this issue could you please share your solution ? Thanks...