Source: git https://github.com/tu-darmstadt-ros-pkg/gazebo_ros_control_select_joints (branch: master)
Gazebo ros_control plugin that allows for selecting the controlled joints (unlike the standard gazebo_ros_control which grabs all transmissions available in the model)
conda install -c robostack ros-noetic-gazebo-ros-control-select-joints
sudo apt-get install os-noetic-gazebo-ros-control-select-joints
git clone https://github.com/tu-darmstadt-ros-pkg/gazebo_ros_control_select_joints.git
To use the plugin, add the following to your robot's URDF:
<gazebo> <plugin name="gazebo_ros_control_select_joints" filename="libgazebo_ros_control_select_joints.so"> <robotNamespace>NAMESPACE</robotNamespace> <joints>joint_1 joint_2 joint_3</joints> </plugin> </gazebo>
with <joints> tag being the feature brought by this package. It expects a space separated list of joint names.
If no <joints> tag is specified, or if the list is empty, the plugin simply grabs all transmissions available in the model (as the standard gazebo_ros_control would do).