#352 Updated actarray to fill in actuator geometry

Gazebo (98)

This is for Gazebo 0.8 SVN (rev 7051 at this time).
Submitted by Stephen Williams

Added a <home> tag to each joint in the Generic Actarray controller to allow the model file to specify a home position for each joint. Updated the Generic Actarray controller to populate the "actuator geometry" data of the actarray interface, including joint limits and home position. PLAYERV seems to use this information to properly set the user slide bars. Updated the ActarrayInterface to use the "actuator geometry" home values when issued a PLAYER_ACTARRAY_HOME_CMD; added a flag in the Player Server Config File to send the actarray to the home position upon subscribing. This mimics the Pioneer arm behavior. Also, fixed a bug with the joint assignments in the Pioneer2_Gripper.


  • Nathan Koenig

    Nathan Koenig - 2011-01-27
    • status: open --> closed

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