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Using animate_joint with ros_gazebo.

Hi,

I'm currently doing some simple (abstract) simulations within ros_gazebo (ROS electric).

I'm now at a point where I would have to use controllers for my joints exceedingly, but then I just found Gazebo's animate_joint plugin (http://gazebosim.org/wiki/tutorials/intermediate/animate_joint). Its ability do define animation using keyframes and not using forces seems like a simple solution for my problems.

Has anyone experience using this plugin with ros_gazebo electric?

Thank you, Johannes