Hi,
A little more precisions on my previous question. I'm trying to use actarray,
so I define a controller like this at the end of my .model :
<controller:hand_actarray name="hand_controller">
<joint name="wrj2">
<force>1</force>
<gain>1</gain>
</joint>
<interface:actarray name="hand_actarray_iface"/>
</controller:hand_actarray>
But I get those errors when trying to run gazebo. I guess my controller is not
defined properly?
models/shadow_hand.model:755: namespace error : Namespace prefix controller on
actarray is not defined
<controller:actarray name="hand_controller">
^
models/shadow_hand.model:760: namespace error : Namespace prefix interface on
actarray is not defined
<interface:actarray name="hand_actarray_iface"/>
I also don't know how to access my actarray controller in the player .cfg file.
I tried to put this in the .cfg file (but it is not working):
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "actarray"
provides ["actarray:0"]
gz_id "hand_actarray_iface"
)
Cheers,
Ugo
On Monday 08 Feb 2010 16:11:01 Ugo Cupcic wrote:
> Dear all,
>
> I'm currently building a gazebo model for our robot (a robotic hand).
>
> I have a simple question: I want to add controllers to control the
> positions of my joints. The joints are hinges, so the position controllers
> should take one angle as input and set the corresponding joint in my model
> to this received angle.
>
> I checked on the internet and found some tutorials but didn't manage to
> make any of them work in my case... Any help is most welcome !
>
> By the way, just in case it makes a difference, I have gazebo 0.10.0 and
> player 3.0.0 installed.
>
> Cheers,
>
> Ugo
>
> PS: I can send the whole model if it is easier
>
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