Im using ROS2-humble what plugins, interfaces. should i add, and why? the urdf file:
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It really depends on your specific application but common plugins are:
gazebo_ros_joint_state_publisher, since thejoint_state_publishernor the gui version work with gazebo, you need this plugin to replace them.gazebo_ros2_controlto useros2_controlandros2_controllerspackages to control the manipulator.
Take a look at this repo for an example for using ROS2 and Gazebo to simulate and control a manipulator.
