Hello, I’m a beginner with Gazebo11 and ROS2. I’m trying to implement a simple custom dynamic model for a force that will be applied to a link in my model. I managed to implement that as a gazebo plugin. The plugin takes an input
u (subscribes to a topic
my_input ) and outputs a force
f (publishes into a topic
However, I’m having trouble figuring out how to implement a dynamic model for my force. Let’s say
f_dot + a * f = b * u in my plugin.
Does anyone know how to solve this problem?