Element arrays and nested elements in Gazebo 1.x [closed]
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.
who is the intended audience for the XML you posted above? Is it a gazebo plugin you've written?
The XML contains parameters for the gazebo_ros_actuator_array plug-in (http://www.ros.org/wiki/actuator_array_gazebo_plugin).