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christophfroehlichchristophfroehlich
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Update docs (#692)
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‎doc/index.rst‎

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@@ -168,23 +168,25 @@ controller manager. By default the *gz_ros2_control* plugin is very simple, thou
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extensible via an additional plugin architecture to allow power users to create their own custom
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robot hardware interfaces between *ros2_control* and Gazebo.
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URDF:
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.. tabs::
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.. code-block:: xml
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.. group-tab:: URDF
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<gazebo>
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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</plugin>
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</gazebo>
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.. code-block:: xml
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SDF:
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<gazebo>
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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</plugin>
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</gazebo>
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.. code-block:: xml
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.. group-tab:: SDF
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.. code-block:: xml
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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</plugin>
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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</plugin>
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The *gz_ros2_control* ``<plugin>`` tag also has the following optional child elements:
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Additionally, one can specify a namespace and remapping rules, which will be forwarded to the controller_manager and loaded controllers. Add the following ``<ros>`` section:
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URDF:
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.. code-block:: xml
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<gazebo>
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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...
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<ros>
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<namespace>my_namespace</namespace>
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<remapping>/robot_description:=/robot_description_full</remapping>
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</ros>
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</plugin>
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</gazebo>
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.. tabs::
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SDF:
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.. group-tab:: URDF
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.. code-block:: xml
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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...
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<ros>
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<namespace>my_namespace</namespace>
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<remapping>/robot_description:=/robot_description_full</remapping>
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</ros>
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</plugin>
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.. code-block:: xml
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Default gz_ros2_control Behavior
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-----------------------------------------------------------
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<gazebo>
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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...
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<ros>
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<namespace>my_namespace</namespace>
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<remapping>/robot_description:=/robot_description_full</remapping>
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</ros>
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</plugin>
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</gazebo>
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By default, without a ``<plugin>`` tag, *gz_ros2_control* will attempt to get all of the information it needs to interface with a ros2_control-based controller out of the URDF or SDF. This is sufficient for most cases, and good for at least getting started.
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.. group-tab:: SDF
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The default behavior provides the following ros2_control interfaces:
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.. code-block:: xml
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* hardware_interface::JointStateInterface
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* hardware_interface::EffortJointInterface
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* hardware_interface::VelocityJointInterface
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<plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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...
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<ros>
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<namespace>my_namespace</namespace>
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<remapping>/robot_description:=/robot_description_full</remapping>
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</ros>
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</plugin>
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Advanced: custom gz_ros2_control Simulation Plugins
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-----------------------------------------------------------
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These plugins must inherit the ``gz_ros2_control::GazeboSimSystemInterface``, which implements a simulated *ros2_control*
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``hardware_interface::SystemInterface``. SystemInterface provides API-level access to read and command joint properties.
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The respective GazeboSimSystemInterface sub-class is specified in a URDF or SDF model and is loaded when the
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robot model is loaded. For example, the following XML will load the default plugin:
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The respective GazeboSimSystemInterface is specified in a URDF or SDF model and is loaded when the
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robot model is loaded. For example, the following XML will load a custom plugin:
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URDF:
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.. tabs::
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.. code-block:: xml
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.. group-tab:: URDF
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<ros2_control name="GazeboSimSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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...
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<ros2_control>
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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...
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</plugin>
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</gazebo>
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.. code-block:: xml
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SDF:
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<ros2_control name="GazeboSimSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control_demos/GazeboCustomSimSystem</plugin>
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</hardware>
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...
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<ros2_control>
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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...
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</plugin>
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</gazebo>
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.. code-block:: xml
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.. group-tab:: SDF
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<ros2_control name="GazeboSimSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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...
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<ros2_control>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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...
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</plugin>
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.. code-block:: xml
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<ros2_control name="GazeboSimSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control_demos/GazeboCustomSimSystem</plugin>
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</hardware>
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...
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<ros2_control>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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...
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</plugin>
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Set up controllers
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-----------------------------------------------------------
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Use the tag ``<parameters>`` inside ``<plugin>`` to set the YAML file with the controller configuration
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and use the tag ``<controller_manager_prefix_node_name>`` to set the controller manager node name.
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URDF:
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.. tabs::
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.. code-block:: xml
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.. group-tab:: URDF
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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<controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
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</plugin>
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<gazebo>
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.. code-block:: xml
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SDF:
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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<controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
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</plugin>
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<gazebo>
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.. code-block:: xml
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.. group-tab:: SDF
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.. code-block:: xml
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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<controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
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</plugin>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
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<controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
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</plugin>
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The following is a basic configuration of the controllers:
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‎gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf‎

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</gazebo>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
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</plugin>

‎gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf‎

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</gazebo>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
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</plugin>

‎gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf‎

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</gazebo>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
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</plugin>

‎gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf‎

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</ros2_control>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<ros>
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<namespace>$(arg namespace)</namespace>

‎gz_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf‎

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</ros2_control>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
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</plugin>

‎gz_ros2_control_demos/urdf/test_pendulum_position.xacro.urdf‎

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</ros2_control>
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<gazebo>
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<!-- Joint state publisher -->
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<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
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<parameters>$(find gz_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
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</plugin>

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