Gazebo plugin (differential equation)

Hello, I’m a beginner with Gazebo11 and ROS2. I’m trying to implement a simple custom dynamic model for a force that will be applied to a link in my model. I managed to implement that as a gazebo plugin. The plugin takes an input u (subscribes to a topic my_input ) and outputs a force f (publishes into a topic my_output ).

However, I’m having trouble figuring out how to implement a dynamic model for my force. Let’s say f_dot + a * f = b * u in my plugin.

Does anyone know how to solve this problem?

Take into account that you already have force plugin control for Gazebo joints, maybeyou should check that first before implementing your own

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