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roboticsgroup_upatras_gazebo_plugins package from roboticsgroup_upatras_gazebo_plugins repo

roboticsgroup_upatras_gazebo_plugins

Package Summary

Tags No category tags.
Version 0.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-12-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Collection of gazebo plugins

Additional Links

Maintainers

  • Konstantinos Chatzilygeroudis
  • Nick Lamprianidis

Authors

  • Konstantinos Chatzilygeroudis

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CHANGELOG

Changelog for package roboticsgroup_upatras_gazebo_plugins

0.2.0 (2020-08-21)

  • Rename package
  • Clean up package

0.1.0 (2020-08-14)

  • Added DisableLink Model Plugin
  • Added sensitiveness parameter to MimicJointPlugin
  • Added maxEffort parameter to MimicJoint plugin
  • Added PID control capability to mimic joint plugin
  • Move catkin_package macro so it is called before targets are defined. Fixes plugins not getting found when doing isolated builds
  • Add missing setForce() call (otherwise PID option doesn\'t do anything)
  • Support of Gazebo 7 was added
  • Support all PID gain parameters, dynamic_reconfigure This change does the following:
    • the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...)
    • a warning will be printed if none of those parameters could be found
    • it\'s possible to adjust the parameters using dynamic_reconfigure
  • Adjust to Gazebo 8 API Note about the DisconnectWorldUpdateBegin: This function was deprecated in favor of resetting the ConnectionPtr, see here: https://bitbucket.org/osrf/gazebo/pull-requests/2329/deprecate-event-disconnect-connectionptr/diff
  • Add fix for gazebo_ros_pkgs#612 This issue also affects the mimic joint plugin: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 The commit here fixes that issue for Gazebo 9. We should change the GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported to Gazebo 7 and 8: https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
  • Add warning when triggering gazebo_ros_pkgs#612
  • Update parameters
    • Default max effort to limit from sdf model
    • Default namespace to empty string
    • Fix sensitiveness calculation
  • Add option to change the namespace of the pid
  • Set CMP0054 for building with Gazebo9
  • Use SetParam for effort limit
  • Add license notice

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboticsgroup_upatras_gazebo_plugins at answers.ros.org

roboticsgroup_upatras_gazebo_plugins package from roboticsgroup_upatras_gazebo_plugins repo

roboticsgroup_upatras_gazebo_plugins

Package Summary

Tags No category tags.
Version 0.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-12-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Collection of gazebo plugins

Additional Links

Maintainers

  • Konstantinos Chatzilygeroudis
  • Nick Lamprianidis

Authors

  • Konstantinos Chatzilygeroudis

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CHANGELOG

Changelog for package roboticsgroup_upatras_gazebo_plugins

0.2.0 (2020-08-21)

  • Rename package
  • Clean up package

0.1.0 (2020-08-14)

  • Added DisableLink Model Plugin
  • Added sensitiveness parameter to MimicJointPlugin
  • Added maxEffort parameter to MimicJoint plugin
  • Added PID control capability to mimic joint plugin
  • Move catkin_package macro so it is called before targets are defined. Fixes plugins not getting found when doing isolated builds
  • Add missing setForce() call (otherwise PID option doesn\'t do anything)
  • Support of Gazebo 7 was added
  • Support all PID gain parameters, dynamic_reconfigure This change does the following:
    • the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...)
    • a warning will be printed if none of those parameters could be found
    • it\'s possible to adjust the parameters using dynamic_reconfigure
  • Adjust to Gazebo 8 API Note about the DisconnectWorldUpdateBegin: This function was deprecated in favor of resetting the ConnectionPtr, see here: https://bitbucket.org/osrf/gazebo/pull-requests/2329/deprecate-event-disconnect-connectionptr/diff
  • Add fix for gazebo_ros_pkgs#612 This issue also affects the mimic joint plugin: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 The commit here fixes that issue for Gazebo 9. We should change the GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported to Gazebo 7 and 8: https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
  • Add warning when triggering gazebo_ros_pkgs#612
  • Update parameters
    • Default max effort to limit from sdf model
    • Default namespace to empty string
    • Fix sensitiveness calculation
  • Add option to change the namespace of the pid
  • Set CMP0054 for building with Gazebo9
  • Use SetParam for effort limit
  • Add license notice

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboticsgroup_upatras_gazebo_plugins at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.

roboticsgroup_upatras_gazebo_plugins package from roboticsgroup_upatras_gazebo_plugins repo

roboticsgroup_upatras_gazebo_plugins

Package Summary

Tags No category tags.
Version 0.2.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
VCS Type git
VCS Version master
Last Updated 2020-12-20
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Collection of gazebo plugins

Additional Links

Maintainers

  • Konstantinos Chatzilygeroudis
  • Nick Lamprianidis

Authors

  • Konstantinos Chatzilygeroudis

roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

  • XML Parameters

    • joint (Required)

    A string specifying the name of the joint to be mimic-ed. - mimicJoint (Required)

    A string specifying the name of the mimic joint. - multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0. - offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0. - maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model. - sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness". - robotNamespace

    A string specifying the namespace the robot is under. Defaults to "". - hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.

  • XML Parameters

    • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins....

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

CHANGELOG

Changelog for package roboticsgroup_upatras_gazebo_plugins

0.2.0 (2020-08-21)

  • Rename package
  • Clean up package

0.1.0 (2020-08-14)

  • Added DisableLink Model Plugin
  • Added sensitiveness parameter to MimicJointPlugin
  • Added maxEffort parameter to MimicJoint plugin
  • Added PID control capability to mimic joint plugin
  • Move catkin_package macro so it is called before targets are defined. Fixes plugins not getting found when doing isolated builds
  • Add missing setForce() call (otherwise PID option doesn\'t do anything)
  • Support of Gazebo 7 was added
  • Support all PID gain parameters, dynamic_reconfigure This change does the following:
    • the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...)
    • a warning will be printed if none of those parameters could be found
    • it\'s possible to adjust the parameters using dynamic_reconfigure
  • Adjust to Gazebo 8 API Note about the DisconnectWorldUpdateBegin: This function was deprecated in favor of resetting the ConnectionPtr, see here: https://bitbucket.org/osrf/gazebo/pull-requests/2329/deprecate-event-disconnect-connectionptr/diff
  • Add fix for gazebo_ros_pkgs#612 This issue also affects the mimic joint plugin: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 The commit here fixes that issue for Gazebo 9. We should change the GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported to Gazebo 7 and 8: https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
  • Add warning when triggering gazebo_ros_pkgs#612
  • Update parameters
    • Default max effort to limit from sdf model
    • Default namespace to empty string
    • Fix sensitiveness calculation
  • Add option to change the namespace of the pid
  • Set CMP0054 for building with Gazebo9
  • Use SetParam for effort limit
  • Add license notice

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboticsgroup_upatras_gazebo_plugins at answers.ros.org