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Adding support for a custom device

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These commented examples show how to integrate a custom device (a rocket attached to the robot end-effector!) into the XBot2.0 framework, at all supported levels. More specifically:

  • rocket_device.h defines an abstract, high-level API for the device; this API is used by high-level users (i.e. plugin implementers)
  • rocket_packet.h defines the low level structure for RT and TX messages to be exchanged (i) between gazebo and XBot2 and (ii) between XBot2 components
  • gz_rocket_server.h / .cpp integrates the device inside gazebo, and provides the server side of the gazebo <-> XBot2 communication; the rocket will apply a force about the end-effector z-axis according to the value inside the TX field
  • rocket_device.cpp provides the client side of the gazebo <-> XBot2 communication, plus integrates the device inside the XBot2 HAL system
  • rocket_plugin.h / .cpp implements an example plugin using the rocket API