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Package Summary

Tags No category tags.
Version 2.8.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version melodic-devel
Last Updated 2018-10-03
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jose Luis Rivero

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

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]. 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(). 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().
  • Added the urdf_string parameter to parseTransmissionsFromURDF().

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)

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Recent questions tagged gazebo_ros_control at answers.ros.org

Package Summary

Tags No category tags.
Version 2.7.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version lunar-devel
Last Updated 2018-10-03
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jose Luis Rivero

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

2.7.6 (2018-06-07)

2.7.5 (2018-06-04)

  • Don't ignore robotNamespace in gazebo_ros_control nodes (lunar-devel) (#706) * Don't ignore robotNamespace When creating the NodeHandle for reading the PID parameters, the model_nh was always ignored. Instead, all parameters were read from /gazebo_ros_control/pid_gains/<joint_name>/* instead of /<robot_name>/gazebo_ros_control/pid_gains/<joint_name>/*. 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)
  • Fix for preserving world velocity when set positions for Gazebo9: #612 This commit fixes #612, but only for Gazebo9. Fixing it for Gazebo7 (the version used in ROS Kinetic) requires the following PR to be backported to Gazebo 7 and 8: https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
  • 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]. 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(). 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().
  • Added the urdf_string parameter to parseTransmissionsFromURDF().

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)

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

Recent questions tagged gazebo_ros_control at answers.ros.org

Package Summary

Tags No category tags.
Version 2.5.17
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-11-01
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jose Luis Rivero

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

2.5.17 (2018-06-07)

2.5.16 (2018-06-04)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
grizzly_gazebo github-g-grizzly_simulator
hector_quadrotor_controller_gazebo github-tu-darmstadt-ros-pkg-hector_quadrotor
kurt_base github-uos-kurt_driver
kurt_gazebo github-uos-kurt_driver
nao_gazebo_plugin github-ros-naoqi-nao_virtual
nextage_gazebo github-tork-a-rtmros_nextage
staubli_rx160_gazebo github-ros-industrial-staubli_experimental
staubli_tx60_gazebo github-ros-industrial-staubli_experimental
staubli_tx90_gazebo github-ros-industrial-staubli_experimental
ur_gazebo github-ros-industrial-universal_robot
aubo_gazebo github-auboliuxin-aubo_robot
pepper_gazebo_plugin github-ros-naoqi-pepper_virtual
romeo_gazebo_plugin github-ros-aldebaran-romeo_virtual
baxter_gazebo github-RethinkRobotics-baxter_simulator
cob_gazebo_ros_control github-ipa320-cob_gazebo_plugins
denso_robot_gazebo github-DENSORobot-denso_robot_ros
husky_gazebo github-husky-husky
icart_mini_gazebo github-open-rdc-icart_mini
jackal_gazebo github-jackal-jackal_simulator
pheeno_ros_sim github-ACSLaboratory-pheeno_ros_sim
raspimouse_control github-rt-net-raspimouse_sim
raspimouse_gazebo github-rt-net-raspimouse_sim
rb1_base_gazebo github-RobotnikAutomation-rb1_base_sim
ridgeback_gazebo github-ridgeback-ridgeback_simulator
roch_gazebo github-SawYer-Robotics-roch_simulator
steer_bot_hardware_gazebo github-CIR-KIT-steer_drive_ros
steer_drive_controller github-CIR-KIT-steer_drive_ros
warthog_gazebo github-warthog-cpr-warthog_simulator
multi_jackal_control github-NicksSimulationsROS-multi_jackal
open_manipulator_gazebo github-ROBOTIS-GIT-open_manipulator_simulations
open_manipulator_with_tb3_gazebo github-ROBOTIS-GIT-open_manipulator_with_tb3_simulations
raspigibbon_control github-raspberrypigibbon-raspigibbon_sim

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged gazebo_ros_control at answers.ros.org

Package Summary

Tags No category tags.
Version 2.4.16
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version indigo-devel
Last Updated 2018-10-03
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jonathan Bohren
  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

2.4.16 (2018-06-04)

2.4.15 (2017-08-09)

2.4.14 (2017-06-24)

2.4.13 (2017-02-28)

2.4.12 (2016-11-27)

2.4.11 (2016-07-14)

  • missing link_directories()
  • Contributors: John Hsu, Jose Luis Rivero

2.4.10 (2016-02-25)

2.4.9 (2015-08-16)

  • 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, 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]. 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(). 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().
  • Added the urdf_string parameter to parseTransmissionsFromURDF().

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)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

Name Repo Deps
darwin_gazebo github-HumaRobotics-darwin_gazebo
hector_quadrotor_controller_gazebo github-tu-darmstadt-ros-pkg-hector_quadrotor
husky_gazebo github-husky-husky_simulator
kurt_base github-uos-kurt_driver
kurt_gazebo github-uos-kurt_driver
nao_gazebo_plugin github-ros-naoqi-nao_virtual
phantomx_gazebo github-HumaRobotics-phantomx_gazebo
nextage_gazebo github-tork-a-rtmros_nextage
staubli_rx160_gazebo github-ros-industrial-staubli_experimental
staubli_tx60_gazebo github-ros-industrial-staubli_experimental
staubli_tx90_gazebo github-ros-industrial-staubli_experimental
ur_gazebo github-ros-industrial-universal_robot
aubo_gazebo github-auboliuxin-aubo_robot
tetris_gazebo github-tork-a-hakuto
pepper_gazebo_plugin github-ros-naoqi-pepper_virtual
romeo_gazebo_plugin github-ros-aldebaran-romeo_virtual
abb_irb120_gazebo github-ros-industrial-abb_experimental
baxter_gazebo github-RethinkRobotics-baxter_simulator
cob_gazebo_ros_control github-ipa320-cob_gazebo_plugins
denso_robot_gazebo github-DENSORobot-denso_robot_ros
icart_mini_gazebo github-open-rdc-icart_mini
jackal_gazebo github-jackal-jackal_simulator
mrp2_hardware_gazebo github-milvusrobotics-mrp2_simulator
pheeno_ros_sim github-ACSLaboratory-pheeno_ros_sim
r2_gazebo gitlab-nasa-jsc-robotics-r2_gazebo
raspimouse_control github-rt-net-raspimouse_sim
raspimouse_gazebo github-rt-net-raspimouse_sim
rb1_base_gazebo github-RobotnikAutomation-rb1_base_sim
ridgeback_gazebo github-ridgeback-ridgeback_simulator
roch_gazebo github-SawYer-Robotics-roch_simulator
spur_gazebo github-tork-a-spur
steer_bot_hardware_gazebo github-CIR-KIT-steer_drive_ros
steer_drive_controller github-CIR-KIT-steer_drive_ros
warthog_gazebo github-warthog-cpr-warthog_simulator
gazebo_mimic github-OrebroUniversity-yumi
yumi_control github-OrebroUniversity-yumi

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged gazebo_ros_control at answers.ros.org

Package Summary

Tags No category tags.
Version 2.6.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version jade-devel
Last Updated 2017-02-20
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jose Luis Rivero

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

2.6.2 (2017-02-20)

2.6.1 (2016-12-06)

2.6.0 (2016-08-04)

2.5.4 (2016-04-27)

  • merge indigo to jade prior to kinetic release
  • Update also the gazebo_ros_control package
  • Contributors: Jose Luis Rivero, Steven Peters

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]. 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(). 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().
  • Added the urdf_string parameter to parseTransmissionsFromURDF().

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)

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

Recent questions tagged gazebo_ros_control at answers.ros.org

Package Summary

Tags No category tags.
Version 2.3.8
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-simulation/gazebo_ros_pkgs.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-03-17
Dev Status DEVELOPED
Released RELEASED

Package Description

gazebo_ros_control

Additional Links

Maintainers

  • Jonathan Bohren
  • Adolfo Rodriguez Tsouroukdissian

Authors

  • Jonathan Bohren
  • Dave Coleman

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

Changelog for package gazebo_ros_control

2.3.8 (2015-03-17)

2.3.7 (2014-09-01)

2.3.6 (2014-08-18)

  • Update default_robot_hw_sim.cpp
  • Update for hydro + gazebo 1.9
  • Fix to work with gazebo3
  • Fix build with gazebo4 and indigo
  • 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
  • Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Jon Binney, Jonathan Bohren, Nate Koenig, John Hsu

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)

  • 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

2.3.3 (2013-10-10)

  • Eliminated a joint_name variable and replaced it with joint_names_[j]. 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(). 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().
  • Added the urdf_string parameter to parseTransmissionsFromURDF().

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)

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

Recent questions tagged gazebo_ros_control at answers.ros.org