nao_gazebo_plugin

Package developed against ROS Indigo and default gazebo (gazebo 2.2.3)

Installation

These packages require several plugins that you have to compile from source.

Please make sure that the package and all the dependencies are up to date

``` {.sourceCode .bash} sudo apt-get update

If you haven\'t done so yet, install the package with apt-get or compile
it from source


``` {.sourceCode .bash}
sudo apt-get install ros-indigo-nao-gazebo-plugin

Go to your workspace, clone the packages, and compile them:

``` {.sourceCode .bash} cd src git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git git clone https://github.com/pal-robotics/pal_msgs.git git clone https://github.com/pal-robotics/pal_gazebo_plugins.git cd .. catkin_make

How to run it
-------------


``` {.sourceCode .bash}
roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch

This will spawn gazebo with nao on a robocup field. The ball has the same specs as the official RoboCup ball (size and mass).

The simulation will be in pause mode to allow initialization of all the controllers. Wait until eveything is successfully loaded:

``` {.sourceCode .bash} [INFO] [WallTime: 1413899465.061789] [0.000000] Controller Spawner: Loaded controllers: /nao_dcm/Head_controller, /nao_dcm/RightArm_controller, /nao_dcm/LeftArm_controller, /nao_dcm/LeftLeg_controller, /nao_dcm/RightLeg_controller, /nao_dcm/RightHand_controller, /nao_dcm/LeftHand_controller, /nao_dcm/joint_state_controller

Click the play button.

Your nao should be standing in front of the ball at the center of the
field.

Get sensor data from gazebo
---------------------------

All the sensors are simulated using plugins. These plugins are included
in the robot description via naoGazebo.xacro file. Each sensor publish
data on rostopics.

We can visualize topics using Ctrl+T or Window/Topic Visualization

![image](images/TopicVisu.png){width="100.0%"}

For example, visualizing Cameras and sonar

![image](images/GazeboCamSonar.png){width="100.0%"}

We can also visualize these messages using Rviz plugins

![image](images/MoveitCamSonar.png){width="100.0%"}

How to interact with simulated robot
------------------------------------

Using MoveIt!:

To control your simulated robot using MoveIt, run:


``` {.sourceCode .bash}
roslaunch nao_moveit_config moveit_planner.launch

Then you can use moveit as usual : quick tutorial here https://github.com/ros-naoqi/nao_moveit_config/blob/master/tuto/tuto_moveit.rst/#use-moveit

Using Choregraphe behaviours:

To be done

Changelog for package nao_gazebo_plugin

0.0.6 (2017-01-31)

• adding back missing dependencies to README
• update maintainers
• [nao_gazebo_plugin/README.rst] clone using https
• Update README.rst
• Update README.rst
• updating links in README
• Contributors: Mikael Arguedas, Natalia Lyubova

0.0.5 (2015-10-21)

0.0.4 (2015-03-26)

• update repos links added run dependencies (not generating warnings)
• Renamed launch files according to nao_description renames..
• remove dependenciesas they generate warnings If they are really needed, proper packages should be added one by one
• Contributors: Konstantinos Chatzilygeroudis, Mikael Arguedas, Vincent Rabaud

0.0.3 (2014-12-04)

• remove dependencies that are not pacakges
• Added a rosinstall file with some instructions of the current status
• Added a launcher that launches empty world (and not the football field which is failing to download now)
• update dependencies
• Contributors: Sam Pfeiffer, Vincent Rabaud, margueda

0.0.2 (2014-10-27)

• add missing runtime dependencies
• fix typos
• fix bad code block display
• Update README.rst
• bug fix on images path
• add images to readme
• update README
• new world + README file
• update dependency list
• new world file for real time testing
• Contributors: Arguedas Mikael, Vincent Rabaud, margueda

0.0.1 (2014-09-28)

• cleanups
• new PID values
• putting back nao_dcm namespace in config files
• nao_control and nao_gazebo to simulate nao
• Contributors: Vincent Rabaud, margueda