FIRSTSim/advanced robot controls

A detailed tutorial will be coming soon, but in the meantime, you can download the source code for the robot controllers here:

https://bitbucket.org/osrf/ftcsim/src

Or by typing the commands:

mkdir ~/ftcsim cd ~/ftcsim hg clone https://bitbucket.org/osrf/ftcsim cd ftcsim/ros/ftcsim_utils/src gedit FTC.cc

Inside, you will see a number of functions written in C++ which create ROS nodes, tie those nodes back to the joints created in the model creation tutorial, specify the forces and torques applied at these joints, and map the joystick buttons and axes to those force and torque controllers. Feel free to experiment with this source code, then rebuild the code and generate your own version of the FTC robot controller plugin, which can be found under /usr/lib/ftcsim-x.x/plugins/libFTC.so and libFTC2.so. Rebuild these source files with a code editor such as QT Creator using the provided CMakeLists.txt file, and copy the newly created libFTC.so and/or libFTC2.so files over to their installed directory.