Re: [PlayerStage-Gazebo] direct Torque control from c++ ?

[MML <Mor...@ho...>]

Hello again Nate

I have looked into the examples you told me about, but I still have a
problem... I cant figure out the call from my c++ program to load any
controller... let me elaberate.
I undestand that a controller has to be made in the model file and that this
controller can be accessed from the c++ program... when I looked at the
Bandit_Actarray.hh the constructor - Bandit_Actarray(Entity *parent ); -
takes an input and i cant figure out what I should put here.. I imagine I
have to specify the name of the controller or model that I want my c program
to control... (I have tried a lot of crazy ideas...)
If you (or anybody else) have an example of calling any function that
requires the (Entity *parent) as input, and the corresponding
model/controller name in the model or world file I would be very thankfull.
- it doesnt have to be to the bandit_actarray, as the same input is required
for all controllers if I am not mistaken.

I am using eclipse as my environment... please dont tell me i should just
leave the input as "(Entity *parent)", and i have made an error in the setup
of my compiler..

Kindly
Morten 


MML wrote:
> 
> 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
>> 
> 
> 


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Morten
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