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nextage_gazebo package from rtmros_nextage repo

nextage_calibration nextage_description nextage_gazebo nextage_ik_plugin nextage_moveit_config nextage_ros_bridge rtmros_nextage

ROS Distro
indigo

API Docs
Browse Code

Package Summary

Version 0.8.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/rtmros_nextage.git
VCS Type git
VCS Version indigo-devel
Last Updated 2025-05-09
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Gazebo simulation for NEXTAGE Open

Additional Links

Maintainers

  • TORK

Authors

  • Kei Okada
  • Isaac I. Y. Saito
nextage_gazebo/README.md

nextage_gazebo

How to setup

  1. install from source
$ source /opt/ros/noetic/setup.bash                   ;; Setup ROS environment
$ mkdir -p ~/ws_nextage/src                           ;; Create workspace
$ cd ~/ws_nextage/src/                                ;; Move to workspace
$ git clone https://github.com/tork-a/rtmros_nextage  ;; Checkout source code
$ rosdep install -r --from-paths src --ignore-src     ;; Install dependency packages
;;
;; This command outputs following errors, but you can ignore
;;
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
nextage_moveit_config: Cannot locate rosdep definition for [hironx_moveit_config]
nextage_ros_bridge: Cannot locate rosdep definition for [ar_track_alvar]
nextage_calibration: Cannot locate rosdep definition for [turtlebot_description]
Continuing to install resolvable dependencies...
;;
  1. Build nextage_gazebo package

Note that normal catkin build will outputs build erros, so run following commands

$ catkin build nextage_gazebo nextage_description --no-deps

How to use

  1. Setup workspace environment
$ source ~/ws_nextage/devel/setup.bash
  1. Run gazebo simulator
$ roslaunch nextage_gazebo nextage_world.launch
  1. How to move arms

You can use rqt-joint-trajectory-controller to examine controllers

$ sudo apt install ros-noetic-rqt-joint-trajectory-controller
$ source /opt/ros/noetic/setup.bash 
$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
  1. Check list of topics

``` $ rostopic list /CAMERA_HEAD_L/camera_info /CAMERA_HEAD_L/image_raw /CAMERA_HEAD_L/image_raw/compressed /CAMERA_HEAD_L/image_raw/compressed/parameter_descriptions /CAMERA_HEAD_L/image_raw/compressed/parameter_updates /CAMERA_HEAD_L/image_raw/compressedDepth /CAMERA_HEAD_L/image_raw/compressedDepth/parameter_descriptions /CAMERA_HEAD_L/image_raw/compressedDepth/parameter_updates /CAMERA_HEAD_L/image_raw/theora /CAMERA_HEAD_L/image_raw/theora/parameter_descriptions /CAMERA_HEAD_L/image_raw/theora/parameter_updates /CAMERA_HEAD_L/parameter_descriptions /CAMERA_HEAD_L/parameter_updates /CAMERA_HEAD_R/camera_info /CAMERA_HEAD_R/image_raw /CAMERA_HEAD_R/image_raw/compressed /CAMERA_HEAD_R/image_raw/compressed/parameter_descriptions /CAMERA_HEAD_R/image_raw/compressed/parameter_updates /CAMERA_HEAD_R/image_raw/compressedDepth /CAMERA_HEAD_R/image_raw/compressedDepth/parameter_descriptions /CAMERA_HEAD_R/image_raw/compressedDepth/parameter_updates /CAMERA_HEAD_R/image_raw/theora /CAMERA_HEAD_R/image_raw/theora/parameter_descriptions /CAMERA_HEAD_R/image_raw/theora/parameter_updates /CAMERA_HEAD_R/parameter_descriptions /CAMERA_HEAD_R/parameter_updates /clock /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/performance_metrics /gazebo/set_link_state /gazebo/set_model_state /head_controller/command /head_controller/follow_joint_trajectory_action/cancel /head_controller/follow_joint_trajectory_action/feedback /head_controller/follow_joint_trajectory_action/goal /head_controller/follow_joint_trajectory_action/result /head_controller/follow_joint_trajectory_action/status /head_controller/gains/HEAD_JOINT0/parameter_descriptions /head_controller/gains/HEAD_JOINT0/parameter_updates /head_controller/gains/HEAD_JOINT1/parameter_descriptions

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package nextage_gazebo

0.8.6 (2020-06-17)

0.8.5 (2019-05-10)

  • add ar_track_alvar dependency and gazebo model path to nextage_gazebo/models (#362)
  • Contributors: Kei Okada, Yamamoto Yosuke

0.8.4 (2018-01-16)

0.8.3 (2017-12-22)

  • add model cafe_tabel and mod ar_headcamera.launch to spawn gazebo models in the case of sim:=true (#354)
  • Contributors: Yosuke Yamamoto

0.8.1 (2017-09-28)

  • Add files for manuals and tutorials / Changes for Gazebo head camera emulation (#350)
    • increase retry time
    • gz.test: set verbose to launch nextage_world.launch
    • time-limit 10 is too small for hz test
    • move ar marker model files to nextage_gazebo/models from nextage_moveit_config/models
    • mod name CAMERA_HEAD_R/L, remove CATKIN_IGNORE (forgot to add/rm them)
    • [Gazebo] Missing dependency for using camera plugin.
    • [Gazebo] Unwind the frequency test. hz requirement for Gazebo sensor plugin on Travis CI needs to be generous. There's a known issue about Gazebo's sensor frequency https://bitbucket.org/osrf/gazebo/pull-requests/2502/make-sure-cameras-fps-is-strictly-applied/diff and with the lack of GPU or higher CPU, the sensor output is significantly slow on Travis CI.
    • [gazebo] Add headmount cameras.
    • [gazebo] Remove a redundant model file that was added by mistake in https://github.com/tork-a/rtmros_nextage/pull/223.
    • [gazebo] Cleanup CMakeLists.txt, package.xml.
  • Contributors: Isaac Saito, Kei Okada, Yosuke Yamamoto

0.8.0 (2017-09-07)

0.7.16 (2017-05-04)

  • [enhance] nextage_gazebo/launch/nextage_gazebo_control.launch : add --shutdown-timeout
  • [enhance] nextage_gazebo/test/gz.test: add retry=2
  • Contributors: Isaac I.Y. Saito, Kei Okada

0.7.15 (2017-03-11)

0.7.14 (2017-02-21)

0.7.13 (2017-01-24)

0.7.12 (2017-01-10)

0.7.11 (2016-11-05)

0.7.10 (2016-10-19)

0.7.9 (2016-10-13)

  • [fix][test] gz.test must be one file to avoid collsion on gazebo master uri
  • [fix] Missing installation
  • [fix] : test/test_nxo_gz.py, because of changeing contorller parameter?
  • [improve] tune pid parameter for gazebo
  • Contributors: Kei Okada

0.7.8 (2016-07-01)

0.7.7 (2016-05-16)

0.7.6 (2016-02-09)

0.7.5 (2016-01-27)

  • [fix] fix namespace so that existing app can operate the robot on Gazebo
  • Contributors: Kei Okada

File truncated at 100 lines see the full file

Launch files

  • launch/gz_viz.launch
    • Took nextage_moveit_config/launch/moveit_rviz.launch as an example.
      • debug [default: false] — Passing true to `debug` allows you to run this launch on gdb.
      • extra_gazebo_args [default: ]
      • gui [default: true]
      • gzpose [default: -x 0.01 -y 0.01 -z 1.0]
      • headless [default: false]
      • paused [default: false]
      • physics [default: ode]
      • sec_idle [default: 1.0]
      • use_sim_time [default: true]
      • verbose [default: false]
      • visualize_laser [default: false]
      • world_file [default: worlds/empty.world]
      • RVIZ_FIXEDFRAME [default: WAIST]
      • command_args [default: -d $(find nextage_gazebo)/launch/gz.rviz --fixed-frame $(arg RVIZ_FIXEDFRAME)]
  • launch/nextage_gazebo_control.launch
  • launch/nextage_world.launch
      • paused [default: false]
      • use_sim_time [default: true]
      • gui [default: true]
      • gzpose [default: -x 0.01 -y 0.01 -z 1.0]
      • headless [default: false]
      • debug [default: false]
      • physics [default: ode]
      • verbose [default: false]
      • sec_idle [default: 1.0]
      • visualize_laser [default: false]
      • world_file [default: worlds/empty.world]
      • extra_gazebo_args [default: ]
      • model [default: $(find nextage_description)/urdf/nxo_gz.xacro]
  • launch/rviz.launch
    • Took nextage_moveit_config/launch/moveit_rviz.launch as an example.
      • RVIZ_FIXEDFRAME [default: WAIST]
      • command_args [default: -d $(find nextage_gazebo)/launch/gz.rviz --fixed-frame $(arg RVIZ_FIXEDFRAME)]
      • debug [default: false] — Passing true to `debug` allows you to run this launch on gdb.

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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