Hi Nate Great!!!
just was I was looking for. Nate Koenig-4 wrote: > > 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 > > ----- Morten -- View this message in context: http://www.nabble.com/direct-Torque-control-from-c%2B%2B---tp19838798p19886366.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
