ControlBoard configuration

[traversaro]

I opened this issue for defining how to pass information (name of the part, port opened, joint controlled) to the controlboard plugin.
@EnricoMingo I was unable to answer in Yammer that is not working for me.
Returning in topic:
What is the way implemented in ros_control? As far I can tell adding child elements to the tag is the standard way of passing information to the gazebo plugin, also for the ros plugins ( http://gazebosim.org/wiki/Tutorials/1.9/ROS_Motor_and_Sensor_Plugins ).

[EnricoMingo]

ros_control basically implement what is implemented in the .ini files of iCub.

[traversaro]

Perfect, my idea is doing something like:

<plugin name="coman_yarp_gazebo_plugin" filename="libyarp_gazebo.so">
        <yarpConfigurationFile>file.ini</yarpConfigurationFile>
</plugin> 

I was wondering where to include the simulator specific information (so the mapping between the joint names and the controlBoard axis. I prefer to use as much as possible the same .ini file used in the original robot (to separate control parameters from simulation parameters), so the possibilities are:

• Using a different .ini yarp file
• Adding the parameters in the SDF as child of plugin tag. I would prefer this solution for compactness, but apparently the only way to include a list of names would be: <jointNames>name1 name2 name3 ..</jointNames> that doesn't seem too clean to me.

[traversaro]

I resorted to put all the configuration in the same .ini file, using only groups starting with GAZEBO for gazebo specific configuration. I guess we can consider this issue closed with #8 .