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Element arrays and nested elements in Gazebo 1.x [closed]

asked 2012-07-09 10:55:42 -0500

Jim Rothrock gravatar image

updated 2014-01-28 17:12:57 -0500

ngrennan gravatar image

I am porting the gazebo_ros_actuator_array plug-in (in the actuator_array stack) to Gazebo 1.x. Unfortunately, according to http://gazebosim.org/wiki/sdf_plugin, plug-ins specified in an SDF file can only have key-value pairs as their parameters. The actuator array plug-in has parameters like these:

<joint>
    <name>camera_servo_joint</name>
    <home>0</home>
    <p>10</p>
    <i>0</i>
    <d>0</d>
    <iClamp>0</iClamp>
  </joint>
  <joint>
    <name>camera_axle_joint</name>
    <home>0</home>
    <p>10</p>
    <i>0</i>
    <d>0</d>
    <iClamp>0</iClamp>
  </joint>
  <joint>
    <name>right_axle_joint</name>
    <controlType>velocityEffort</controlType>
  </joint>

Are there plans to support multiple elements with the same name (e.g. "joint") and nested elements? Currently, my work-around is to add a jointFileName parameter to the plug-in, use the parameter to specify a YAML file, and store the joint information in the file.

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Closed for the following reason the question is answered, right answer was accepted by Jim Rothrock
close date 2013-10-07 07:40:17

Comments

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who is the intended audience for the XML you posted above? Is it a gazebo plugin you've written?

hsu gravatar image hsu  ( 2012-07-16 10:51:02 -0500 )edit

The XML contains parameters for the gazebo_ros_actuator_array plug-in (http://www.ros.org/wiki/actuator_array_gazebo_plugin).

Jim Rothrock gravatar image Jim Rothrock  ( 2012-07-19 04:51:08 -0500 )edit

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answered 2012-08-11 05:37:43 -0500

Jim Rothrock gravatar image

From Nate Koenig on the Gazebo mailing list:

This is now fixed in the dev branch of gazebo. There is also a simple example in <gazebo_sources>/examples/plugins/parameters

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Asked: 2012-07-09 10:55:42 -0500

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Last updated: Aug 11 '12