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This ROS package was cloned from https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins into ros_kortex to properly simulate mimic joints in Gazebo for the Robotiq 2f 85 gripper. The repository was cloned at commit 4d93ecd86e4415c3fe74d0027fd41c5e3b39ec44. The original readme file follows:

roboticsgroup_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

      A string specifying the name of the joint to be mimic-ed.

    • mimicJoint (Required)

      A string specifying the name of the mimic joint.

    • multiplier

      A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0.

    • offset

      A double specifying the offset parameter of the mimic joint. Defaults to 0.0.

    • maxEffort

      A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model.

    • sensitiveness

      A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness".

    • robotNamespace

      A string specifying the namespace the robot is under. Defaults to "".

    • hasPID

      Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

      A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis