2012/4/6 Andrea Luzzana <andrea [dot] luzzana [..] ...>:
> hello,
>
> Is there an equivalent RTT youbot component that "drives" the youbot simulated in Gazebo instead of the real youbot?
> Has someone already done this?

Checkout https://github.com/bellenss/euRobotics_orocos_ws

The wiki pages contain a lot of documentation about the setup
The youbot_simulator component is used for the simulation, and is
probably what you are looking for.

Regards,

steven

>
> thanks to all.
>
> Best Regards.
>
> Andrea Luzzana
>
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Hello Andrea
>
> Is there an equivalent RTT youbot component that "drives" the youbot
> simulated in Gazebo instead of the real youbot? Has someone already done
> this?
For our European Robotics Forum workshop
(http://www.orocos.org/wiki/orocos/european-robotics-forum-2012-workshops) we
used both the real youbot and the youbot simulated in Gazebo. To communicate
with Gazebo we used Ros topics. These ROS topics were connected to the ports
of our orocos-iTaSC components.

The hardest job to get the simulation working was to get some errors out of
the controllers for the youbot in Gazebo provided by the youbot-store
(http://youbot-store.com/simulation/12/software.aspx). We have send our
corrections to the authors of the youbot-ros-pkg but I am not sure of our
patch is applied already. If you want you can use our forked package available
at http://github.com/kmarkus/youbot-ros-pkg.git.
The controllers are still not grate, therefore we turned off the gravity when
running the simulation.

If you want you can check the code of our workshop. Here you can check our
entire configuration and see how we use iTaSC to specify and combine different
tasks for the youbot.

Good luck;

Tinne