Adding the gazebo_ros_control plugin
After adding the transmission tags, we should add the gazebo_ros_control plugin in the simulation model to parse the transmission tags and assign appropriate hardware interfaces and the control manager. The following code adds the gazebo_ros_control plugin to the .xacro file:
<!-- ros_control plugin --> <gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/seven_dof_arm</robotNamespace> </plugin> </gazebo>
Here, the <plugin> element specifies the plugin name to be loaded, which is libgazebo_ros_control.so. The <robotNamespace> element can be given as the name of the robot; if we are not specifying the name, it will automatically load the name of the robot from the URDF. We can also specify the controller...