Quote:
Originally Posted by dawonn
You will probably need to make a custom Gazebo Plugin that describes your robot's kinematics and control signals. I also haven't looked to terribly deep into it myself yet, but I have worked with Gazebo quite a bit in the past.
IIRC: You can define the structure of your robot in an XML type file where you specify each joint and link in your system, then write a c++ plugin that describes how to control each joint.
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Right, the frcsim plugins provide generic functionality to control a joint, so ideally those are designed such that they will work with any general robot (for example, pacsim and gearsbot use the same binaries).
And yeah, I'm vaguely aware of the XML, but I'm not sure of the format, and I suspect there's something one needs to do to create the world file.. etc. I'd rather not have to reverse engineer it if FIRST has already provided tools to do these things (which, I feel like I read about them somewhere... maybe)