New JointController plugin to implement Position and Velocity joint control modes #166
+288
−181
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This is the first example of a model plugin that could be inserted during runtime, i.e. after inserting the model in the simulation.
The plugin runs as a System stepped by Gazebo at the rate the server was configured. In order to run the PIDs at a different rate, users could define a different period with:
https://github.com/robotology/gym-ignition/blob/e7c6b7d5f566f356de54a4cf15fc4015aa013090/cpp/scenario/gazebo/include/scenario/gazebo/Model.h#L101-L102
There is a single PID per joint that must be configured when either
JointControlModel::Position
orJointControlMode::Velocity
are enabled.