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dfki-ric / phobos

An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.

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Add motor with JointController

23pointsNorth opened this issue · comments

commented

Is your feature request related to a problem? Please describe.
Currently, when using [Add Motor], any of the selected options (that I've tried) generate a JointPositionController like:

  <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
    <joint_name>arm_joint</joint_name>
    <p_gain>20.00000</p_gain>
    <i_gain>0.00000</i_gain>
    <d_gain>0.00000</d_gain>
  </plugin>

From the ls usr/lib/gz.../plugins | grep controller, we can see that there exist these options:

libgz-sim-joint-controller-system.so
libgz-sim-joint-position-controller-system.so
libgz-sim-joint-trajectory-controller-system.so
libgz-sim-track-controller-system.so

Describe the solution you'd like
Thus, wanting to use a JointController, I have to manually substitute the controllers for the joint names as e.g.:

  <plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
    <joint_name>arm_joint</joint_name>
    <topic>/joints/arm/cmd_vel</topic>
  </plugin>

with optionally being able to select vel/force control.

Describe alternatives you've considered
sed/re sdf file for the controllers.

commented

@23pointsNorth It was intended that a position motor generates a JointPositionController and force and velocity motors generate JointControllers. I fixed this in the last commit. Does this satisfy your needs or do you need the other controllers, too?