romeo_gazebo_plugin =================

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

Dependencies

The package requires Gazebo and robot-specific packages, such as romeo_description and romeo_control

``` {.sourceCode .bash} sudo apt-get install ros-indigo-romeo-description ros-indigo-romeo-control

Other plugins to fetch and compile:


``` {.sourceCode .bash}
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
catkin_make

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

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

How to run it
=============


``` {.sourceCode .bash}
roslaunch romeo_gazebo_plugin romeo_gazebo_plugin_H37.launch

This will spawn gazebo with Romeo 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: /romeo_dcm/Head_controller, /romeo_dcm/RightArm_controller, /romeo_dcm/LeftArm_controller, /romeo_dcm/LeftLeg_controller, /romeo_dcm/RightLeg_controller, /romeo_dcm/RightHand_controller, /romeo_dcm/LeftHand_controller, /romeo_dcm/joint_state_controller

Click the Play button.

Your Romeo 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 romeoGazebo.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 romeo_moveit_config moveit_planner.launch

Then you can control the robot with MoveIt!, check the tutorial quick tutorial here https://github.com/ros-aldebaran/romeo_moveit_config/blob/master/README.rst

Changelog for package romeo_gazebo_plugin

0.2.3 (2017-11-16)

• Merge pull request #1 from ros-aldebaran/mikaelarguedas-clone-using-https-in-readme [romeo_gazebo_plugin/README.rst] clone using https
• [romeo_gazebo_plugin/README.rst] clone using https
• Update README.rst
• Update package.xml
• Contributors: Mikael Arguedas, Natalia Lyubova

0.2.2 (2016-07-10)

• removing an unused launch file
• Contributors: Natalia Lyubova

0.2.1 (2016-07-08)

• clean version and changelogs for next release
• add back world file not supported by gazebo7
• moved romeo_gazebo_plugin and romeo_control into new romeo_virtual repo
• Contributors: Mikael Arguedas