Hello everyone!
My intention is to write a plugin that will be attached directly to a link or joint, not to the model, in order to apply a force or torque.
I see in this tutorial (http://gazebosim.org/tutorials?tut=ros_gzplugins#AddingPlugins) that the `gazebo` tag can accept the `reference` argument, which can be pointed to the link or joint of choice.
However, it is not clear to me what this reference is or where it is accessed by the plugin code.
The standard `Load()` function of the `ModelPlugin` accepts as arguments a `ModelPtr _model` and a `SDFElement _sdf` (for the sdf structure of the plugin tag/environment itself).
How will I go about obtaining the reference link/joint directly?
P.S.
I know that I could pass a `link_name` argument in the plugin and get that from the plugin code, from the `_sdf->GetElement("link_name")`, but this doesn't take advantage of the `reference` tag.
Thank you in advance,
George
edit: Fixed link to point to the correct internal link
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