Hello,
Gazebo version: Harmonic
ROS2 version: humble
I’m currently trying to simulate a wrench on a drone, which I created using the PX4-Autopilot tutorial make px4_sitl gz_x500. Ideally, I’d like to publish wrench to a specific link of the drone, which would mimic some sort of weight the drone is carrying. I saw the gz sim had a ApplyLinkWrench plugin, but it seems to me that it can only affects model created in the world sdf, moreover it doesn’t seem to create the topic I’d want. I only could move inanimate objects with a predefined force/torque.
To sum up, the feature I would like is a gz topic, ex. /x500/base_link/ApplyWrench, which when being published to, would mimic the force on the link.
Does gazebo harmonic offer such a way? I’m also using the ForceTorque sensor, and ideally I’d like both to work cojointly.
Thank you in advance for your help,
Yannis