Hi,
I am creating a gazebo plugin to control a non-holonomic robot (aka with so-called omni wheels), and while tinkering and playing with codes I found online I ran into an issue.
I tried to compile this code :
https://robotics.stackexchange.com/questions/8893/gazebo-moving-joint-with-model-plugin/16248#16248
but when I did so, I wansn't able to store the joint's pointer into a new attribute of the class. Here is my code :
//the path of the plugin must be known by gazebo through an environment variable, and this needs to be set at each terminal startup
//So you need to add the following to the .bashrc file at the root of your home directory
//nano ~.bashrc
//and add on the bottom
//export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/home/omniROS/omniROS_ws/src/gazebo_plugin_holonomic/build
//To run the plugin $/build cmake ../ && make
#include
#include
#include
#include
#include
namespace gazebo
{
class HolonomicPlugin : public ModelPlugin
{
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
// Store the pointer to the model
this->model = _parent;
this->jointR2_ = this->model->GetJoint()[0];
// Listen to the update event. This event is broadcast every
// simulation iteration.
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
std::bind(&HolonomicPlugin::OnUpdate, this));
}
// Called by the world update start event
public: void OnUpdate()
{
// Apply a small linear velocity to the model.
this->model->SetLinearVel(ignition::math::Vector3d(.3, 0, 0));
}
// Pointer to the model
private: physics::ModelPtr model;
// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;
};
// Register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(HolonomicPlugin)
}
And here is the errors I get while compiling it:
/home/user/omniROS/omniROS_ws/src/gazebo_plugin_holonomic/holonomic_model_plugin.cc: In member function ‘virtual void gazebo::HolonomicPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/user/omniROS/omniROS_ws/src/gazebo_plugin_holonomic/holonomic_model_plugin.cc:22:13: error: ‘class gazebo::HolonomicPlugin’ has no member named ‘jointR2_’
this->jointR2_ = this->model->GetJoint()[0];
My goal is to store the three pointers of my model's three joints in order to create a PID control in the OnUpdate() class function.
It is probably a gazebo non-related question but I can't manage to find a correct answer on internet (I don't know where to search).
I'll keep you updated on this project if some are interested.
↧