Gazebo ros_control Interfaces

This is a ROS package for integrating the ros_control controller architecture with the Gazebo simulator.

This package provides a Gazebo plugin which instantiates a ros_control controller manager and connects it to a Gazebo model.

Documentation is provided on Gazebo’s website.

Future Direction

• Implement transmissions

Changelog for package gazebo_ros_control

2.9.2 (2021-04-21)

• colcon.pkg: build gazebo first in colcon workspace (#1135) Add a colcon.pkg file to gazebo_dev with gazebo's cmake project name "Gazebo" listed as a dependency to support building gazebo from source in a colcon workspace. * Add colcon.pkg files for other packages Copy colcon.pkg to gazebo_ros, gazebo_plugins, and gazebo_ros_control so that --merge-install won't be required.

• Contributors: Steve Peters

2.9.1 (2020-05-20)

2.9.0 (2020-05-19)

• restrict Windows header namespace. (#1023)
• [Windows][melodic-devel] more Windows build break fix (#975)
  • Fix CMake install error for Windows build.
  • conditionally include <sys/time.h>
• Contributors: Sean Yen

2.8.5 (2019-06-04)

• use C++11 std sleep instead of usleep. (#877)
• Lower minimum cmake version (#817)
• Contributors: Paul Bovbel, Sean Yen [MSFT]

2.8.4 (2018-07-06)

2.8.3 (2018-06-04)

• Remove legacy in gazebo_ros_control for robotNamespace (#709) See pull request #637
• Contributors: Jose Luis Rivero

2.8.2 (2018-05-09)

• Fix the build on Ubuntu Artful. (#715) Artful has some bugs in its cmake files for Simbody that cause it to fail the build. If we are on artful, remove the problematic entries. Signed-off-by: Chris Lalancette <<clalancette@openrobotics.org>>
• Contributors: Chris Lalancette

2.8.1 (2018-05-05)

• Don't ignore robotNamespace in gazebo_ros_control nodes (lunar-devel) (#706) This commit restores the intended behavior, i.e., the parameters will now read from <robot_name>/..., where <robot_name> is specified via the robotNamespace plugin parameter or the parent name.
• add physics type for dart with joint velocity interface (#701)
• Contributors: Jose Luis Rivero

2.7.4 (2018-02-12)

• Fix last gazebo8 warnings! (lunar-devel) (#664)
• Fix gazebo8 warnings part 7: retry #642 on lunar (#660)
• Contributors: Jose Luis Rivero, Steven Peters

2.7.3 (2017-12-11)

• Replace Events::Disconnect* with pointer reset (#626)
• Contributors: Jose Luis Rivero

2.7.2 (2017-05-21)

• Revert gazebo8 changes in Lunar and back to use gazebo7 (#583)
• Contributors: Jose Luis Rivero

2.7.1 (2017-04-28)

• Fixes for compilation and warnings in Lunar-devel (#573) Multiple fixes for compilation and warnings coming from Gazebo8 and ignition-math3
• Less exciting console output (#561)
• Add catkin package(s) to provide the default version of Gazebo - take II (kinetic-devel) (#571)
• Contributors: Dave Coleman, Jose Luis Rivero

2.5.12 (2017-04-25)

• Fixed broken gazebo_ros_control tutorial link (#566)
• Contributors: Ian McMahon

2.5.11 (2017-04-18)

• Change build system to set DEPEND on Gazebo/SDFormat (fix catkin warning) Added missing DEPEND clauses to catkin_package to fix gazebo catkin warning. Note that after the change problems could appear related to -lpthreads errors. This is an known issue related to catkin: https://github.com/ros/catkin/issues/856.
• Make gazebo_ros_control compatible with ros_control with respect to <hardwareInterface> tag (#550)
  • ros_control expects "<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>", i.e. "hardware_interface/" prefix
  • add deprecation warning
  • improve warning
  • fix warning message fix
• Contributors: Andreas Bihlmaier, Dave Coleman

2.5.10 (2017-03-03)

• Revert catkin warnings to fix regressions (problems with catkin -lpthreads errors) For reference and reasons, please check: https://discourse.ros.org/t/need-to-sync-new-release-of-rqt-topic-indigo-jade-kinetic/1410/4 * Revert "Fix gazebo catkin warning, cleanup CMakeLists (#537)" This reverts commit 5a0305fcb97864b66bc2e587fc0564435b4f2034. * Revert "Fix gazebo and sdformat catkin warnings" This reverts commit 11f95d25dcd32faccd2401d45c722f7794c7542c.

• Contributors: Jose Luis Rivero

2.5.9 (2017-02-20)

• Fix gazebo catkin warning, cleanup CMakeLists (#537)
• Namespace console output (#543)
• Print name of joint with wrong interface
• Removed all trailing whitespace
• Change boost::shared_ptr to urdf::JointConstSharedPtr
• Contributors: Bence Magyar, Dave Coleman, Jochen Sprickerhof

2.5.8 (2016-12-06)

2.5.7 (2016-06-10)

• delete CATKIN_IGNORE in gazebo_ros_control (#456)
• Contributors: Jackie Kay, Jose Luis Rivero

2.5.3 (2016-04-11)

2.5.2 (2016-02-25)

• clean up merge from indigo-devel
• merging from indigo-devel
• Use Joint::SetParam for joint velocity motors Before gazebo5, Joint::SetVelocity and SetMaxForce were used to set joint velocity motors. The API has changed in gazebo5, to use Joint::SetParam instead. The functionality is still available through the SetParam API. cherry-picked from indigo-devel Add ifdefs to fix build with gazebo2 It was broken by #315. Fixes #321.
• 2.4.9
• Generate changelog
• Import changes from jade-branch
• add missing dependencies
• Fix DefaultRobotHWSim puts robotNamespace twice DefaultRobotHWSim::initSim() member function uses both namespaced NodeHandle and robot_namespace string to create parameter names. For example, if a robotNamespace is "rrbot", DefaultRobotHWSim tries to get parameters from following names:
  • /rrbot/rrbot/gazebo_ros_control/pid_gains/*

  - /rrbot/rrbot/joint_limits/* This commit change these names to:

  • /rrbot/gazebo_ros_control/pid_gains/*
  • /rrbot/joint_limits/*
• Add ifdefs to fix build with gazebo2 It was broken by #315. Fixes #321.
• Use Joint::SetParam for joint velocity motors Before gazebo5, Joint::SetVelocity and SetMaxForce were used to set joint velocity motors. The API has changed in gazebo5, to use Joint::SetParam instead. The functionality is still available through the SetParam API.
• Set GAZEBO_CXX_FLAGS to fix c++11 compilation errors
• Contributors: Akiyoshi Ochiai, John Hsu, Jose Luis Rivero, Steven Peters, ipa-fxm

2.5.1 (2015-08-16)

• Fix DefaultRobotHWSim puts robotNamespace twice DefaultRobotHWSim::initSim() member function uses both namespaced NodeHandle and robot_namespace string to create parameter names. For example, if a robotNamespace is "rrbot", DefaultRobotHWSim tries to get parameters from following names:
  • /rrbot/rrbot/gazebo_ros_control/pid_gains/*

  - /rrbot/rrbot/joint_limits/* This commit change these names to:

  • /rrbot/gazebo_ros_control/pid_gains/*
  • /rrbot/joint_limits/*
• Added a comment about the need of libgazebo5-dev in runtime
• Added elevator plugin
• Use c++11
• run_depend on libgazebo5-dev (#323) Declare the dependency. It can be fixed later if we don't want it.
• Contributors: Akiyoshi Ochiai, Jose Luis Rivero, Nate Koenig, Steven Peters
• Fix DefaultRobotHWSim puts robotNamespace twice DefaultRobotHWSim::initSim() member function uses both namespaced NodeHandle and robot_namespace string to create parameter names. For example, if a robotNamespace is "rrbot", DefaultRobotHWSim tries to get parameters from following names:
  • /rrbot/rrbot/gazebo_ros_control/pid_gains/*

  - /rrbot/rrbot/joint_limits/* This commit change these names to:

  • /rrbot/gazebo_ros_control/pid_gains/*
  • /rrbot/joint_limits/*
• Added a comment about the need of libgazebo5-dev in runtime
• Added elevator plugin
• Use c++11
• run_depend on libgazebo5-dev
• Contributors: Akiyoshi Ochiai, Jose Luis Rivero, Nate Koenig, Steven Peters

2.5.0 (2015-04-30)

• run_depend on libgazebo5-dev instead of gazebo5
• Changed the rosdep key for gazebo to gazebo5, for Jade Gazebo5 will be used.
• Contributors: Steven Peters, William Woodall

2.4.9 (2015-08-16)

• Import changes from jade-branch
• add missing dependencies
• Add ifdefs to fix build with gazebo2 It was broken by #315. Fixes #321.
• Use Joint::SetParam for joint velocity motors Before gazebo5, Joint::SetVelocity and SetMaxForce were used to set joint velocity motors. The API has changed in gazebo5, to use Joint::SetParam instead. The functionality is still available through the SetParam API.
• Set GAZEBO_CXX_FLAGS to fix c++11 compilation errors
• Contributors: Akiyoshi Ochiai, Jose Luis Rivero, Steven Peters, ipa-fxm

2.4.8 (2015-03-17)

• Merge pull request #244 from cottsay/control-urdf-fix gazebo_ros_control: add urdf to downstream catkin deps
• Added emergency stop support.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Jim Rothrock, Scott K Logan

2.4.7 (2014-12-15)

• move declaration for DefaultRobotHWSim to header file
• Contributors: ipa-fxm

2.4.6 (2014-09-01)

• Update default_robot_hw_sim.cpp
• Reduced changes
• Fix to work with gazebo3
• Fix build with gazebo4 and indigo
• Update package.xml Add new maintainer.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Jose Luis Rivero, Nate Koenig, hsu

2.4.5 (2014-08-18)

• Fix typo: GAZEBO_VERSION_MAJOR -> GAZEBO_MAJOR_VERSION
• Port fix_build branch for indigo-devel See pull request #221
• Contributors: Jose Luis Rivero, Steven Peters

2.4.4 (2014-07-18)

• Update package.xml Add new maintainer.
• Should fix build error for binary releases. See: http://www.ros.org/debbuild/indigo.html?q=gazebo_ros_control
• Updated package.xml
• gazebo_ros_control: default_robot_hw_sim: Suppressing pid error message Depends on ros-controls/control_toolbox#21
• Revert 4776545, as it belongs in indigo-devel.
• Fix repo names in package.xml's
• gazebo_ros_control: default_robot_hw_sim: Suppressing pid error message, depends on ros-controls/control_toolbox#21
• gazebo_ros_control: Add dependency on angles
• gazebo_ros_control: Add build-time dependency on gazebo This fixes a regression caused by a889ef8b768861231a67b78781514d834f631b8e
• Contributors: Adolfo Rodriguez Tsouroukdissian, Alexander Bubeck, Dave Coleman, Jon Binney, Jonathan Bohren, Scott K Logan

2.4.3 (2014-05-12)

• Compatibility with Indigo's ros_control. Also fixes #184.
• Remove build-time dependency on gazebo_ros.
• Fix broken build due to wrong rosconsole macro use
• Contributors: Adolfo Rodriguez Tsouroukdissian

2.4.2 (2014-03-27)

• merging from hydro-devel
• bump patch version for indigo-devel to 2.4.1
• merging from indigo-devel after 2.3.4 release
• Merge branch 'hydro-devel' of github.com:ros-simulation/gazebo_ros_pkgs into indigo-devel
• "2.4.0"
• catkin_generate_changelog
• Contributors: John Hsu

2.4.1 (2013-11-13)

2.3.5 (2014-03-26)

• Removed some debugging code.
• joint->SetAngle() and joint->SetVelocity() are now used to control position-controlled joints and velocity-controlled joints that do not have PID gain values stored on the Parameter Server.
• Position-controlled and velocity-controlled joints now use PID controllers instead of calling SetAngle() or SetVelocity(). readSim() now longer calls angles::shortest_angular_distance() when a joint is prismatic. PLUGINLIB_EXPORT_CLASS is now used to register the plugin.
• gazebo_ros_control now depends on control_toolbox.
• Added support for the position hardware interface. Completed support for the velocity hardware interface.
• Removed the "support more hardware interfaces" line.
• Contributors: Jim Rothrock

2.3.4 (2013-11-13)

• rerelease because sdformat became libsdformat, but we also based change on 2.3.4 in hydro-devel.
• Merge pull request #144 from meyerj/fix-125 Fixed #125: gazebo_ros_control: controlPeriod greater than the simulation period causes unexpected results
• Merge pull request #134 from meyerj/gazebo-ros-control-use-model-nh gazebo_ros_control: Use the model NodeHandle to get the robot_description parameter
• gazebo_ros_control: added GazeboRosControlPlugin::Reset() method that resets the timestamps on world reset
• gazebo_ros_control: call writeSim() for each Gazebo world update independent of the control period
• gazebo_ros_pkgs: use GetMaxStepSize() for the Gazebo simulation period
• gazebo_ros_control: use the model NodeHandle to get the robot_description parameter
• Add missing run_depend to urdf in gazebo_ros_control
• Remove dependency to meta-package ros_controllers

2.4.0 (2013-10-14)

2.3.3 (2013-10-10)

• Eliminated a joint_name variable and replaced it with [joint_names_[j]]{.title-ref}. Modified some lines so that they fit in 100 columns. These changes were made in order to be consistent with the rest of the file.
• Merge remote-tracking branch 'upstream/hydro-devel' into hydro-devel
• joint_limits_interface is now used to enforce limits on effort-controlled joints.
• Added "joint_limits_interface" and "urdf" to the component list.
• Additional parameters are passed to [robot_hw_sim->initSim()]{.title-ref}. These parameters are used by the joint limits interface.
• Added "joint_limits_interface" and "urdf" to the build dependency list.
• Added the robot_namespace and urdf_model parameters to [initSim()]{.title-ref}.
• Added the urdf_string parameter to [parseTransmissionsFromURDF()]{.title-ref}.

2.3.2 (2013-09-19)

2.3.1 (2013-08-27)

• Cleaned up template, fixes for header files
• Renamed plugin to match file name, tweaked CMakeLists
• Created a header file for the ros_control gazebo plugin

2.3.0 (2013-08-12)

• Renamed ros_control_plugin, updated documentation

2.2.1 (2013-07-29)

2.2.0 (2013-07-29)

• Standardized the way ROS nodes are initialized in gazebo plugins
• Remove find_package(SDF) from CMakeLists.txt It is sufficient to find gazebo, which will export the information about the SDFormat package.
• Merge branch 'hydro-devel' into tranmission_parsing
• Doc and debug update
• Merged hydro-devel
• Hid debug info
• Merged from Hydro-devel
• Merge branch 'hydro-devel' into tranmission_parsing
• Moved trasmission parsing to ros_control

2.1.5 (2013-07-18)

2.1.4 (2013-07-14)

• Fixed for Jenkins broken dependency on SDF in ros_control

2.1.3 (2013-07-13)

2.1.2 (2013-07-12)

• Cleaned up CMakeLists.txt for all gazebo_ros_pkgs
• 2.1.1

2.1.1 (2013-07-10 19:11)

• Fixed errors and deprecation warnings from Gazebo 1.9 and the sdformat split
• making RobotHWSim::initSim pure virtual
• Cleaning up code
• Adding install targets

2.1.0 (2013-06-27)

• Made version match the rest of gazebo_ros_pkgs per bloom
• Added dependency on ros_controllers
• Clarifying language in readme
• Made default period Gazebo's period
• Made control period optional
• Tweaked README
• Added support for reading <tranmission> tags and other cleaning up
• Renamed RobotSim to RobotHWSim
• Renaming all gazebo_ros_control stuff to be in the same package
• Refactoring gazebo_ros_control packages into a single package, removing exampls (they will go elsewhere)
• updating readme for gazebo_ros_control
• Merging in gazebo_ros_control
• making gazebo_ros_control a metapackage
• Moving readme
• Merging readmes
• eating this
• Merging gazebo_ros_control and ros_control_gazebo

2.0.2 (2013-06-20)

2.0.1 (2013-06-19)

2.0.0 (2013-06-18)