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|
nextage_gazebo package from rtmros_nextage reponextage_calibration nextage_description nextage_gazebo nextage_ik_plugin nextage_moveit_config nextage_ros_bridge rtmros_nextage |
|
|
Package Summary
| Tags | No category tags. |
| 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 | 2024-07-01 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Gazebo simulation for NEXTAGE Open
Additional Links
Maintainers
- TORK
Authors
- Kei Okada
- Isaac I. Y. Saito
nextage_gazebo
How to setup
- 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...
;;
- Build
nextage_gazebopackage
Note that normal catkin build will outputs build erros, so run following commands
$ catkin build nextage_gazebo nextage_description --no-deps
How to use
- Setup workspace environment
$ source ~/ws_nextage/devel/setup.bash
- Run gazebo simulator
$ roslaunch nextage_gazebo nextage_world.launch
- 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
- 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
/head_controller/gains/HEAD_JOINT1/parameter_updates
/head_controller/state
/joint_states
/larm_controller/command
/larm_controller/follow_joint_trajectory_action/cancel
/larm_controller/follow_joint_trajectory_action/feedback
/larm_controller/follow_joint_trajectory_action/goal
/larm_controller/follow_joint_trajectory_action/result
/larm_controller/follow_joint_trajectory_action/status
/larm_controller/gains/LARM_JOINT0/parameter_descriptions
/larm_controller/gains/LARM_JOINT0/parameter_updates
/larm_controller/gains/LARM_JOINT1/parameter_descriptions
/larm_controller/gains/LARM_JOINT1/parameter_updates
/larm_controller/gains/LARM_JOINT2/parameter_descriptions
/larm_controller/gains/LARM_JOINT2/parameter_updates
/larm_controller/gains/LARM_JOINT3/parameter_descriptions
/larm_controller/gains/LARM_JOINT3/parameter_updates
/larm_controller/gains/LARM_JOINT4/parameter_descriptions
/larm_controller/gains/LARM_JOINT4/parameter_updates
/larm_controller/gains/LARM_JOINT5/parameter_descriptions
/larm_controller/gains/LARM_JOINT5/parameter_updates
/larm_controller/state
/rarm_controller/command
/rarm_controller/follow_joint_trajectory_action/cancel
/rarm_controller/follow_joint_trajectory_action/feedback
/rarm_controller/follow_joint_trajectory_action/goal
/rarm_controller/follow_joint_trajectory_action/result
/rarm_controller/follow_joint_trajectory_action/status
/rarm_controller/gains/RARM_JOINT0/parameter_descriptions
/rarm_controller/gains/RARM_JOINT0/parameter_updates
/rarm_controller/gains/RARM_JOINT1/parameter_descriptions
/rarm_controller/gains/RARM_JOINT1/parameter_updates
/rarm_controller/gains/RARM_JOINT2/parameter_descriptions
/rarm_controller/gains/RARM_JOINT2/parameter_updates
/rarm_controller/gains/RARM_JOINT3/parameter_descriptions
/rarm_controller/gains/RARM_JOINT3/parameter_updates
/rarm_controller/gains/RARM_JOINT4/parameter_descriptions
/rarm_controller/gains/RARM_JOINT4/parameter_updates
/rarm_controller/gains/RARM_JOINT5/parameter_descriptions
/rarm_controller/gains/RARM_JOINT5/parameter_updates
/rarm_controller/state
/rosout
/rosout_agg
/tf
/tf_static
/torso_controller/command
/torso_controller/follow_joint_trajectory_action/cancel
/torso_controller/follow_joint_trajectory_action/feedback
/torso_controller/follow_joint_trajectory_action/goal
/torso_controller/follow_joint_trajectory_action/result
/torso_controller/follow_joint_trajectory_action/status
/torso_controller/gains/CHEST_JOINT0/parameter_descriptions
/torso_controller/gains/CHEST_JOINT0/parameter_updates
/torso_controller/state
CHANGELOG
Changelog for package nextage_gazebo
0.8.6 (2020-06-17)
- Merge pull request #371 from pazeshun/add-bright-world Add gazebo world for non-NVIDIA GPU
- Add gazebo world for non-NVIDIA GPU Without activating NVIDIA GPU, world is very dark on gazebo 9 (ROS melodic), so disable shadow to make world bright See https://github.com/tork-a/rtmros_nextage/issues/370 See https://bitbucket.org/osrf/gazebo/issues/2623/no-shadows-and-sun-light-with-non-nvidia
- use default instaed of value of <arg name='model'> tag
- [nextage_gazebo/package.xml] add gazebo_model_path setting.
- Contributors: Kei Okada, Masaki Murooka, Shun Hasegawa
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
0.7.4 (2016-01-26)
- need to wait for finishing go_initial.py (https://github.com/tork-a/rtmros_nextage/pull/223/files#diff-16b25951a50b1e80569929d32a09102bR14)
- pass arg GUI
- [gz] Retry tests upon failure
- [gz] Add small unit tests
- [gz] Minor formatting
- [gazebo] Add non-zero mass so that links are not ignored
- update control parameters
- http://answers.ros.org/question/200777/using-both-jointtrajectorycontroller-and-jointpositioncontroller-at-same-time-in-ros_control, we may not need both position controller and trajectory controller
- use NextageOpen name space, use robot name. Not sure if this is necessary
- package.xml: add depends to ros_controllers
- set depend from nextage_description to nextage_gazebo is not a good idea, nextage_gazbeo should depends on nextage_description
- [gazebo] Add non-zero mass so that links are not ignored
- Add Gazebo package. So far model not shown, and model seems to keep falling.
- Contributors: Isaac I.Y. Saito, Kei Okada
0.7.3 (2015-12-31)
0.7.2 (2015-11-02)
0.7.1 (2015-10-26)
0.7.0 (2015-10-21)
0.6.6 (2015-10-17)
0.6.5 (2015-10-16)
0.6.4 (2015-10-02)
0.6.3 (2015-08-15)
0.6.2 (2015-05-12)
0.6.1 (2015-03-09)
0.6.0 (2015-02-03)
0.5.3 (2014-11-13)
0.5.2 (2014-11-03)
0.5.1 (2014-10-17)
0.4.2 (2014-10-01)
0.4.1 (2014-09-03)
0.2.18 (2014-08-01)
0.2.17 (2014-07-24 14:01)
0.2.16 (2014-07-24 10:09)
0.2.15 (2014-07-13)
0.2.14 (2014-06-20)
0.2.13 (2014-05-28)
0.2.12 (2014-05-06)
0.2.11 (2014-03-05)
0.2.10 (2014-02-18)
0.2.9 (2014-02-03 12:34)
0.2.8 (2014-02-03 03:12)
0.2.7 (2014-01-19)
0.2.6 (2014-01-13)
0.2.5 (2013-12-25)
0.2.4 (2013-12-03)
0.2.3 (2013-11-05)
0.2.2 (2013-11-04)
0.2.1 (2013-10-31)
0.2.0 (2013-10-30)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| gazebo_plugins | |
| gazebo_ros | |
| gazebo_ros_control | |
| nextage_description | |
| ros_controllers | |
| rostest | |
| nextage_moveit_config |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| nextage_calibration | |
| rtmros_nextage |
Launch files
- 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/nextage_gazebo_control.launch
- 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/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.
Recent questions tagged nextage_gazebo at Robotics Stack Exchange
No version for distro hydro. Known supported distros are highlighted in the buttons above.
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|
nextage_gazebo package from rtmros_nextage reponextage_calibration nextage_description nextage_gazebo nextage_ik_plugin nextage_moveit_config nextage_ros_bridge rtmros_nextage |
|
|
Package Summary
| Tags | No category tags. |
| 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 | 2024-07-01 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Gazebo simulation for NEXTAGE Open
Additional Links
Maintainers
- TORK
Authors
- Kei Okada
- Isaac I. Y. Saito
nextage_gazebo
How to setup
- 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...
;;
- Build
nextage_gazebopackage
Note that normal catkin build will outputs build erros, so run following commands
$ catkin build nextage_gazebo nextage_description --no-deps
How to use
- Setup workspace environment
$ source ~/ws_nextage/devel/setup.bash
- Run gazebo simulator
$ roslaunch nextage_gazebo nextage_world.launch
- 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
- 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
/head_controller/gains/HEAD_JOINT1/parameter_updates
/head_controller/state
/joint_states
/larm_controller/command
/larm_controller/follow_joint_trajectory_action/cancel
/larm_controller/follow_joint_trajectory_action/feedback
/larm_controller/follow_joint_trajectory_action/goal
/larm_controller/follow_joint_trajectory_action/result
/larm_controller/follow_joint_trajectory_action/status
/larm_controller/gains/LARM_JOINT0/parameter_descriptions
/larm_controller/gains/LARM_JOINT0/parameter_updates
/larm_controller/gains/LARM_JOINT1/parameter_descriptions
/larm_controller/gains/LARM_JOINT1/parameter_updates
/larm_controller/gains/LARM_JOINT2/parameter_descriptions
/larm_controller/gains/LARM_JOINT2/parameter_updates
/larm_controller/gains/LARM_JOINT3/parameter_descriptions
/larm_controller/gains/LARM_JOINT3/parameter_updates
/larm_controller/gains/LARM_JOINT4/parameter_descriptions
/larm_controller/gains/LARM_JOINT4/parameter_updates
/larm_controller/gains/LARM_JOINT5/parameter_descriptions
/larm_controller/gains/LARM_JOINT5/parameter_updates
/larm_controller/state
/rarm_controller/command
/rarm_controller/follow_joint_trajectory_action/cancel
/rarm_controller/follow_joint_trajectory_action/feedback
/rarm_controller/follow_joint_trajectory_action/goal
/rarm_controller/follow_joint_trajectory_action/result
/rarm_controller/follow_joint_trajectory_action/status
/rarm_controller/gains/RARM_JOINT0/parameter_descriptions
/rarm_controller/gains/RARM_JOINT0/parameter_updates
/rarm_controller/gains/RARM_JOINT1/parameter_descriptions
/rarm_controller/gains/RARM_JOINT1/parameter_updates
/rarm_controller/gains/RARM_JOINT2/parameter_descriptions
/rarm_controller/gains/RARM_JOINT2/parameter_updates
/rarm_controller/gains/RARM_JOINT3/parameter_descriptions
/rarm_controller/gains/RARM_JOINT3/parameter_updates
/rarm_controller/gains/RARM_JOINT4/parameter_descriptions
/rarm_controller/gains/RARM_JOINT4/parameter_updates
/rarm_controller/gains/RARM_JOINT5/parameter_descriptions
/rarm_controller/gains/RARM_JOINT5/parameter_updates
/rarm_controller/state
/rosout
/rosout_agg
/tf
/tf_static
/torso_controller/command
/torso_controller/follow_joint_trajectory_action/cancel
/torso_controller/follow_joint_trajectory_action/feedback
/torso_controller/follow_joint_trajectory_action/goal
/torso_controller/follow_joint_trajectory_action/result
/torso_controller/follow_joint_trajectory_action/status
/torso_controller/gains/CHEST_JOINT0/parameter_descriptions
/torso_controller/gains/CHEST_JOINT0/parameter_updates
/torso_controller/state
CHANGELOG
Changelog for package nextage_gazebo
0.8.6 (2020-06-17)
- Merge pull request #371 from pazeshun/add-bright-world Add gazebo world for non-NVIDIA GPU
- Add gazebo world for non-NVIDIA GPU Without activating NVIDIA GPU, world is very dark on gazebo 9 (ROS melodic), so disable shadow to make world bright See https://github.com/tork-a/rtmros_nextage/issues/370 See https://bitbucket.org/osrf/gazebo/issues/2623/no-shadows-and-sun-light-with-non-nvidia
- use default instaed of value of <arg name='model'> tag
- [nextage_gazebo/package.xml] add gazebo_model_path setting.
- Contributors: Kei Okada, Masaki Murooka, Shun Hasegawa
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
0.7.4 (2016-01-26)
- need to wait for finishing go_initial.py (https://github.com/tork-a/rtmros_nextage/pull/223/files#diff-16b25951a50b1e80569929d32a09102bR14)
- pass arg GUI
- [gz] Retry tests upon failure
- [gz] Add small unit tests
- [gz] Minor formatting
- [gazebo] Add non-zero mass so that links are not ignored
- update control parameters
- http://answers.ros.org/question/200777/using-both-jointtrajectorycontroller-and-jointpositioncontroller-at-same-time-in-ros_control, we may not need both position controller and trajectory controller
- use NextageOpen name space, use robot name. Not sure if this is necessary
- package.xml: add depends to ros_controllers
- set depend from nextage_description to nextage_gazebo is not a good idea, nextage_gazbeo should depends on nextage_description
- [gazebo] Add non-zero mass so that links are not ignored
- Add Gazebo package. So far model not shown, and model seems to keep falling.
- Contributors: Isaac I.Y. Saito, Kei Okada
0.7.3 (2015-12-31)
0.7.2 (2015-11-02)
0.7.1 (2015-10-26)
0.7.0 (2015-10-21)
0.6.6 (2015-10-17)
0.6.5 (2015-10-16)
0.6.4 (2015-10-02)
0.6.3 (2015-08-15)
0.6.2 (2015-05-12)
0.6.1 (2015-03-09)
0.6.0 (2015-02-03)
0.5.3 (2014-11-13)
0.5.2 (2014-11-03)
0.5.1 (2014-10-17)
0.4.2 (2014-10-01)
0.4.1 (2014-09-03)
0.2.18 (2014-08-01)
0.2.17 (2014-07-24 14:01)
0.2.16 (2014-07-24 10:09)
0.2.15 (2014-07-13)
0.2.14 (2014-06-20)
0.2.13 (2014-05-28)
0.2.12 (2014-05-06)
0.2.11 (2014-03-05)
0.2.10 (2014-02-18)
0.2.9 (2014-02-03 12:34)
0.2.8 (2014-02-03 03:12)
0.2.7 (2014-01-19)
0.2.6 (2014-01-13)
0.2.5 (2013-12-25)
0.2.4 (2013-12-03)
0.2.3 (2013-11-05)
0.2.2 (2013-11-04)
0.2.1 (2013-10-31)
0.2.0 (2013-10-30)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| gazebo_plugins | |
| gazebo_ros | |
| gazebo_ros_control | |
| nextage_description | |
| ros_controllers | |
| rostest | |
| nextage_moveit_config |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| nextage_calibration | |
| rtmros_nextage |
Launch files
- 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/nextage_gazebo_control.launch
- 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/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.
Recent questions tagged nextage_gazebo at Robotics Stack Exchange
|
|
nextage_gazebo package from rtmros_nextage reponextage_calibration nextage_description nextage_gazebo nextage_ik_plugin nextage_moveit_config nextage_ros_bridge rtmros_nextage |
|
|
Package Summary
| Tags | No category tags. |
| 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 | 2024-07-01 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Gazebo simulation for NEXTAGE Open
Additional Links
Maintainers
- TORK
Authors
- Kei Okada
- Isaac I. Y. Saito
nextage_gazebo
How to setup
- 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...
;;
- Build
nextage_gazebopackage
Note that normal catkin build will outputs build erros, so run following commands
$ catkin build nextage_gazebo nextage_description --no-deps
How to use
- Setup workspace environment
$ source ~/ws_nextage/devel/setup.bash
- Run gazebo simulator
$ roslaunch nextage_gazebo nextage_world.launch
- 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
- 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
/head_controller/gains/HEAD_JOINT1/parameter_updates
/head_controller/state
/joint_states
/larm_controller/command
/larm_controller/follow_joint_trajectory_action/cancel
/larm_controller/follow_joint_trajectory_action/feedback
/larm_controller/follow_joint_trajectory_action/goal
/larm_controller/follow_joint_trajectory_action/result
/larm_controller/follow_joint_trajectory_action/status
/larm_controller/gains/LARM_JOINT0/parameter_descriptions
/larm_controller/gains/LARM_JOINT0/parameter_updates
/larm_controller/gains/LARM_JOINT1/parameter_descriptions
/larm_controller/gains/LARM_JOINT1/parameter_updates
/larm_controller/gains/LARM_JOINT2/parameter_descriptions
/larm_controller/gains/LARM_JOINT2/parameter_updates
/larm_controller/gains/LARM_JOINT3/parameter_descriptions
/larm_controller/gains/LARM_JOINT3/parameter_updates
/larm_controller/gains/LARM_JOINT4/parameter_descriptions
/larm_controller/gains/LARM_JOINT4/parameter_updates
/larm_controller/gains/LARM_JOINT5/parameter_descriptions
/larm_controller/gains/LARM_JOINT5/parameter_updates
/larm_controller/state
/rarm_controller/command
/rarm_controller/follow_joint_trajectory_action/cancel
/rarm_controller/follow_joint_trajectory_action/feedback
/rarm_controller/follow_joint_trajectory_action/goal
/rarm_controller/follow_joint_trajectory_action/result
/rarm_controller/follow_joint_trajectory_action/status
/rarm_controller/gains/RARM_JOINT0/parameter_descriptions
/rarm_controller/gains/RARM_JOINT0/parameter_updates
/rarm_controller/gains/RARM_JOINT1/parameter_descriptions
/rarm_controller/gains/RARM_JOINT1/parameter_updates
/rarm_controller/gains/RARM_JOINT2/parameter_descriptions
/rarm_controller/gains/RARM_JOINT2/parameter_updates
/rarm_controller/gains/RARM_JOINT3/parameter_descriptions
/rarm_controller/gains/RARM_JOINT3/parameter_updates
/rarm_controller/gains/RARM_JOINT4/parameter_descriptions
/rarm_controller/gains/RARM_JOINT4/parameter_updates
/rarm_controller/gains/RARM_JOINT5/parameter_descriptions
/rarm_controller/gains/RARM_JOINT5/parameter_updates
/rarm_controller/state
/rosout
/rosout_agg
/tf
/tf_static
/torso_controller/command
/torso_controller/follow_joint_trajectory_action/cancel
/torso_controller/follow_joint_trajectory_action/feedback
/torso_controller/follow_joint_trajectory_action/goal
/torso_controller/follow_joint_trajectory_action/result
/torso_controller/follow_joint_trajectory_action/status
/torso_controller/gains/CHEST_JOINT0/parameter_descriptions
/torso_controller/gains/CHEST_JOINT0/parameter_updates
/torso_controller/state
CHANGELOG
Changelog for package nextage_gazebo
0.8.6 (2020-06-17)
- Merge pull request #371 from pazeshun/add-bright-world Add gazebo world for non-NVIDIA GPU
- Add gazebo world for non-NVIDIA GPU Without activating NVIDIA GPU, world is very dark on gazebo 9 (ROS melodic), so disable shadow to make world bright See https://github.com/tork-a/rtmros_nextage/issues/370 See https://bitbucket.org/osrf/gazebo/issues/2623/no-shadows-and-sun-light-with-non-nvidia
- use default instaed of value of <arg name='model'> tag
- [nextage_gazebo/package.xml] add gazebo_model_path setting.
- Contributors: Kei Okada, Masaki Murooka, Shun Hasegawa
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
0.7.4 (2016-01-26)
- need to wait for finishing go_initial.py (https://github.com/tork-a/rtmros_nextage/pull/223/files#diff-16b25951a50b1e80569929d32a09102bR14)
- pass arg GUI
- [gz] Retry tests upon failure
- [gz] Add small unit tests
- [gz] Minor formatting
- [gazebo] Add non-zero mass so that links are not ignored
- update control parameters
- http://answers.ros.org/question/200777/using-both-jointtrajectorycontroller-and-jointpositioncontroller-at-same-time-in-ros_control, we may not need both position controller and trajectory controller
- use NextageOpen name space, use robot name. Not sure if this is necessary
- package.xml: add depends to ros_controllers
- set depend from nextage_description to nextage_gazebo is not a good idea, nextage_gazbeo should depends on nextage_description
- [gazebo] Add non-zero mass so that links are not ignored
- Add Gazebo package. So far model not shown, and model seems to keep falling.
- Contributors: Isaac I.Y. Saito, Kei Okada
0.7.3 (2015-12-31)
0.7.2 (2015-11-02)
0.7.1 (2015-10-26)
0.7.0 (2015-10-21)
0.6.6 (2015-10-17)
0.6.5 (2015-10-16)
0.6.4 (2015-10-02)
0.6.3 (2015-08-15)
0.6.2 (2015-05-12)
0.6.1 (2015-03-09)
0.6.0 (2015-02-03)
0.5.3 (2014-11-13)
0.5.2 (2014-11-03)
0.5.1 (2014-10-17)
0.4.2 (2014-10-01)
0.4.1 (2014-09-03)
0.2.18 (2014-08-01)
0.2.17 (2014-07-24 14:01)
0.2.16 (2014-07-24 10:09)
0.2.15 (2014-07-13)
0.2.14 (2014-06-20)
0.2.13 (2014-05-28)
0.2.12 (2014-05-06)
0.2.11 (2014-03-05)
0.2.10 (2014-02-18)
0.2.9 (2014-02-03 12:34)
0.2.8 (2014-02-03 03:12)
0.2.7 (2014-01-19)
0.2.6 (2014-01-13)
0.2.5 (2013-12-25)
0.2.4 (2013-12-03)
0.2.3 (2013-11-05)
0.2.2 (2013-11-04)
0.2.1 (2013-10-31)
0.2.0 (2013-10-30)
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| gazebo_plugins | |
| gazebo_ros | |
| gazebo_ros_control | |
| nextage_description | |
| ros_controllers | |
| rostest | |
| nextage_moveit_config |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| nextage_calibration | |
| rtmros_nextage |
Launch files
- 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/nextage_gazebo_control.launch
- 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/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.