Package Summary

Tags No category tags.
Version 1.0.3
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_model_attachment_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-01-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Model Attachment Plugin

Additional Links

No additional links.

Maintainers

  • Boeing
  • Boeing
  • Boeing

Authors

  • Boeing
README
No README found. See repository README.
CHANGELOG

Changelog for package gazebo_model_attachment_plugin

1.0.2 (2023-12-19)

  • updated gazebo dependency to be compatible with debian distribution bullseye
  • Contributors: RoBeau

1.0.1 (2023-12-14)

  • Inital Release
  • Contributors: Beau Colley-Allerton, RoBeau

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged boeing_gazebo_model_attachment_plugin at Robotics Stack Exchange

boeing_gazebo_model_attachment_plugin package from gazebo_model_attachment_plugin repo

boeing_gazebo_model_attachment_plugin

Package Summary

Tags No category tags.
Version 1.0.2
License Apache-2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_model_attachment_plugin.git
VCS Type git
VCS Version noetic
Last Updated 2024-01-12
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Model Attachment Plugin

Additional Links

No additional links.

Maintainers

  • Boeing
  • Boeing

Authors

  • Boeing
Distro CI Status
Noetic CI
Humble CI

Gazebo Model Attachment Plugin

Overview

Once a model has been spawned within Gazebo, it can often be necessary to add or remove Links at runtime without destroying the model. This can be necessary for simulating actions such as end effector swap, item transport (loading and uploading), or pick and place operations. This package enables such simulations by allowing Models to be attached to each other.

Assumptions

  • The models must have been spawned and contain the specified link names.

Limitations

  • The plugin will not teleport the child model to make the pose of model_name_1/link_name_1 match model_name_2/link_name_2. The attachment will instead occur with the pose difference at the time of the service call being maintained.
    • If the user wishes to have zero pose difference a call to the gazebo/set_link_state service can be made.

Installation

Dependencies

  • None

Installation from Packages

PENDING APPROVAL ON ROS_DISTRO

To install all packages from this repository as Debian packages use

sudo apt-get install ros-noetic-boeing-gazebo-model-attachment-plugin

Or better, use rosdep:

sudo rosdep install --from-paths src

Building

To build from source, clone the latest version from this repository into your ros workspace and compile the package using catkin

cd ros_ws/src
git clone https://github.com/boeing/boeing_gazebo_model_attachment_plugin.git
cd ../
rosdep install --from-paths . --ignore-src
catkin make

Usage

Add your library path to the GAZEBO_PLUGIN_PATH

export GAZEBO_PLUGIN_PATH=$HOME/ros_ws/build:$GAZEBO_PLUGIN_PATH

Add the plugin to your world file

<sdf version='1.6'>
<world name='default'>

 <plugin name="model_attachment" filename="libboeing_gazebo_model_attachment_plugin_lib.so"></plugin>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <include>
      <uri>model://sun</uri>
    </include>

    <plugin name="factory" filename="libfactory.so"/>
  </world>
</sdf>

Run Gazebo

gazebo ~/gazebo_plugin_tutorial/test.world

Provided Services

  • attach (boeing_gazebo_model_attachment_plugin/Attach.srv)

    Creates a joint between two links

    ros service call /boeing_gazebo_model_attachment_plugin/attach
    

##### Parameters

  • joint_name (string) The name of the joint to be created

  • model_1 (string) - The name of the parent model.

  • link_1 (string) - The name of the link on the parent model.

  • model_2 (string) - The name of the child model.

  • link_2 (string) - The name of the link on the child model.

##### Response * success (bool) True if the operation is successful * message (string) Contains error message if operation fails.

  • detach (boeing_gazebo_model_attachment_plugin/Detach.srv) removes a joint between two links.

    ros2 service call /boeing_gazebo_model_attachment_plugin/detach
    

##### Parameters * joint_name (string) The name of the joint to be created

  • model_1 (string) - The name of the parent model.

  • model_2 (string) - The name of the child model.

##### Response * success (bool) True if the operation is successful * message (string) Contains error message if operation fails.

Authors

The Boeing Company

    Beau Colley-Allerton
    Jason Cochrane

License

The Config File Validator is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Modified Apache 2 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CHANGELOG

Changelog for package gazebo_model_attachment_plugin

1.0.1 (2023-12-15)

  • Inital Release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged boeing_gazebo_model_attachment_plugin at Robotics Stack Exchange