Merge pull request #294 from fmessmer/unique_control_plugin

guarantee unique plugin name for hwi_switch_gazebo_ros_control

Author: fmessmer

cob_description/urdf/cob4_arm/cob4_arm.urdf.xacro

@@ -330,7 +330,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

cob_description/urdf/cob4_base/base.urdf.xacro

@@ -125,7 +125,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

cob_description/urdf/cob4_gripper/gripper.urdf.xacro

@@ -158,7 +158,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

cob_description/urdf/cob4_head/head.urdf.xacro

@@ -180,7 +180,7 @@
     <!-- ros_control plugin -->
     <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
-        <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+        <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>
           <filterJointsParam>joint_names</filterJointsParam>
         </plugin>

cob_description/urdf/cob4_sensorring/sensorring.urdf.xacro

@@ -74,7 +74,7 @@
     <!-- ros_control plugin -->
     <xacro:if value="${active}">
       <gazebo>
-        <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+        <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>
           <filterJointsParam>joint_names</filterJointsParam>
         </plugin>

cob_description/urdf/cob4_torso/torso.urdf.xacro

@@ -187,7 +187,7 @@
     <!-- ros_control plugin -->
     <xacro:if value="${(dof1 == True) or (dof2 == True) or (dof3 == True)}">
       <gazebo>
-        <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+        <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
           <robotNamespace>${name}</robotNamespace>
           <filterJointsParam>joint_names</filterJointsParam>
         </plugin>

cob_description/urdf/pg70/pg70.urdf.xacro

@@ -98,6 +98,14 @@
       <mimic joint="${name}_finger_left_joint" multiplier="1" offset="0"/>
       <limit effort="10" lower="-0.001" upper="0.0301" velocity="0.041"/>
     </joint>
+    <gazebo>
+      <plugin name="${name}_finger_right_joint_gazebo" filename="libgazebo_ros_mimic_joint.so">
+        <jointName>${name}_finger_right_joint</jointName>
+        <mimicJoint>${name}_finger_left_joint</mimicJoint>
+        <multiplier>1.0</multiplier>
+        <offset>0.0</offset>
+      </plugin>
+    </gazebo>
 
     <link name="${name}_finger_right_link">
       <xacro:default_inertial/>
@@ -125,7 +133,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

raw_description/urdf/base_long/base.urdf.xacro

@@ -120,7 +120,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

raw_description/urdf/base_short/base.urdf.xacro

@@ -122,7 +122,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>

raw_description/urdf/torso/torso.urdf.xacro

@@ -108,7 +108,7 @@
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
+      <plugin name="${name}_ros_control" filename="libhwi_switch_gazebo_ros_control.so">
         <robotNamespace>${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>