Hello, In order to control a custom model, you need to write a controller class. There are examples in gazebo/server/controllers. I would recommend looking at gazebo/server/controllers/actarray/bandit. This controller implements joint control of a humanoid robot.
Then take a look at worlds/models/banit.model to see how the controller is specified in the model. -nate On Mon, Oct 6, 2008 at 7:14 AM, MML <[EMAIL PROTECTED]> wrote: > > Hi all > > Hope you can help me with this one. > how is it possible to control the torque, in a joint, from a c++ program? > > I have created a world and a model file. now i would like to build my own > controller for the joints in the model, using a c++ program, but i can not > figure out how the syntax should be? > It looks like i have to include the joint.hh and the header for the type of > joint i am using but i am sort of stuck when it comes to loading the joint > into the c++ program. I checked the ODE and it looks like there is an > interface to the joints here too, which supports torque control, but i am > kind of stuck when it comes to the (XMLconfig *node) which, as i see it > should be used to tell the c++ program what and where the joint is... So > whether I go "directly" through gazebos joint.hh header or through ode.h i > am stuck at the XMLconfig thing. > If it is possible an example would be greatly appreciated, since I am no > code expert. > > Kindly Morten > > ----- > Morten > -- > View this message in context: > http://www.nabble.com/direct-Torque-control-from-c%2B%2B---tp19838798p19838798.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's challenge > Build the coolest Linux based applications with Moblin SDK & win great prizes > Grand prize is a trip for two to an Open Source event anywhere in the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-gazebo mailing list Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
