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gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repo symbol

gazebo_planar_move_plugin repository

gazebo_planar_move_plugin

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_planar_move_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-04-03
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
gazebo_planar_move_plugin 1.0.2

README

Gazebo Planar Movement Plugin

| Distro | CI Status | | —— | ———————————————————————————————————————————————————————————————– | | Humble | CI |

Motivation

Movement planning packages in ROS for differential drive or omni-directional drive mobile robots usually publish a Twist message on the topic cmd_vel. In order to simulate these robots, a Gazebo plugin is required to listen to this topic, then apply the appropriate movement to the simulated robot Model in Gazebo.

Goals

  • If in position mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model with a time interpolated position update based on the Twist linear and angular velocity.
  • If in velocity mode:
    • Listen to the /cmd_vel Twist message and update the appropriate Gazebo Model velocities with the Twist linear and angular velocities.
  • Odometry in the form of nav_msgs/Odometry shall be published on /odom or odometry_topic parmeter. This is usually used by external ROS localisation or navigation packages.
    • If ground_truth is False, configurable noise shall be applied to the odometry value.
  • Imu tracking shall be published in the form of sensor_msgs/Imu.

Requirements

  • Physics must be disabled using gazebo_no_physics_plugin if in position mode.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.

Design

Assumptions

Limitations

  • The plugin simulates planar movements only. Any Z axis components of velocity shall be ignored.
    • The model position Z component shall always be set to 0.0.
  • Position uncertainty is not reflected in the covariance components of the Odom and Imu topics published.
    • All relevant xyz rx ry rz covariance components are set to 0.0001.

License

This package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2.0 License, as dictated by that license

To contribute, issue a PR and @brta-jc (jason.cochrane@boeing.com)

CONTRIBUTING