Open roncapat opened 1 year ago
Happy to review the PR, I would suggest to include a tutorial or example too.
A possible work rationale here is to:
double
datatype but also at least int
and bool
(gazebo "Any" messages support different basic data types).Other desiderata?
This is a proposal (not sure if it's the right place for that) about adding to
gazebo_ros2_control
the possibility to read/write Gazebo topics. For example, in an use-case of mine, I needed an elegant way for my controller to set some kind of value to the (simulated) hardware, so to a Gazebo plugin. I checked the Gazebo API and found out that apart from introspection (read-only way to communicate) the other common solution (found in the PX4 SITL packages for example) is to bridge plugins via gazebo messages (Google protobufs).Any interest in a function like that? Since I'm working on it already, it might be possible for me to provide a clean implementation (with some extra work).