gazebo_set_joint_positions_plugin repository

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_set_joint_positions_plugin.git
VCS Type git
VCS Version humble
Last Updated 2024-01-16
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Gazebo Set Joint Positions Plugin

Distro CI Status
Noetic CI
Humble CI

Motivation

Multi joint robot drivers publish their current joint positions on a JointState topic. In order to simulate these robots in Gazebo, a way to set a Gazebo Model joint state to the drivers joint state is required. This plugin sets a RobotModel's joint values to the latest published values on a speicifed JointState topic from ROS. This topic is typically published by a robot driver (ie. Universal Robotics driver) or by ROS2 Control. By using this plugin you are not required to use the gazebo_ros_control_plugin (or ROS control at all).

Goals

  • Listen for a JointState on the default topic /joint_states, set the Gazebo Model to match the joint states.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.
Link A sub component of a Model. This plugin creates static 'attachment' Joints between Links. Links can contain geometry elements or attached plugins.
Joint A connection between Links in Gazebo.

Assumptions

  • The number of joints in the published JointState message must match the number of Joints in the associated Model.
  • The name of the joints in the JointState message must match the name of a joint in the Model.

Limitations

  • All joints being set must be revolute type.
  • If the published JointState for any Joint is outside the upper or lower joint limits (as defined by the Model SDF), the joint limits will be enforced and the joint shall be set to the limit value.

Authors

The Boeing Company

    Boeing Reasearch and Technology Advanced Production Systems Team

License

The package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2 License, as dictated by that license

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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/Boeing/gazebo_set_joint_positions_plugin.git
VCS Type git
VCS Version noetic
Last Updated 2024-01-16
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Gazebo Set Joint Positions Plugin

Distro CI Status
Noetic CI
Humble CI

Motivation

Multi joint robot drivers publish their current joint positions on a JointState topic. In order to simulate these robots in Gazebo, a way to set a Gazebo Model joint state to the drivers joint state is required. This plugin sets a RobotModel's joint values to the latest published values on a speicifed JointState topic from ROS. This topic is typically published by a robot driver (ie. Universal Robotics driver) or by ROS2 Control. By using this plugin you are not required to use the gazebo_ros_control_plugin (or ROS control at all).

Goals

  • Listen for a JointState on the default topic /joint_states, set the Gazebo Model to match the joint states.

Definitions

Definition Description
Model An instanced SDF in Gazebo. Models consist of Links connected by Joints.
Link A sub component of a Model. This plugin creates static 'attachment' Joints between Links. Links can contain geometry elements or attached plugins.
Joint A connection between Links in Gazebo.

Assumptions

  • The number of joints in the published JointState message must match the number of Joints in the associated Model.
  • The name of the joints in the JointState message must match the name of a joint in the Model.

Limitations

  • All joints being set must be revolute type.
  • If the published JointState for any Joint is outside the upper or lower joint limits (as defined by the Model SDF), the joint limits will be enforced and the joint shall be set to the limit value.

Authors

The Boeing Company

    Boeing Reasearch and Technology Advanced Production Systems Team

License

The package is released under the Apache 2.0 License

Contributing

Any contribution that you make to this repository will be under the Apache-2 License, as dictated by that license

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

CONTRIBUTING

No CONTRIBUTING.md found.