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No version for distro iron. Known supported distros are highlighted in the buttons above.

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Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_gazebo.git
VCS Type	git
VCS Version	master
Last Updated	2022-04-25
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)

Packages

Name	Version
eusgazebo	0.1.12
hrpsys_gazebo_atlas	0.1.12
hrpsys_gazebo_general	0.1.12
hrpsys_gazebo_msgs	0.1.12
hrp2jsk_moveit_config	0.1.12
hrp2jsknt_moveit_config	0.1.12
hrp2jsknts_moveit_config	0.1.12
hrp2w_moveit_config	0.1.12
moveit_eus_ik_plugin	UNKNOWN
samplerobot_moveit_config	0.1.12
staro_moveit_config	0.1.12

README

rtmros_gazebo

gazebo simulation for rtmros robots

Install

Please refer rtmros_common for installing these packages.

Try Sample

Open Terminal and run gazebo

roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch  # kinetic and above
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers_indigo.launch  # indigo

Launch another terminal and start hrpsys-base

rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch  # kinetic and above
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup_indigo.launch  # indigo

Launch another terminal and send command to robot by roseus

roscd hrpsys_ros_bridge/euslisp/
roseus samplerobot-interface.l
(samplerobot-init)
(setq *robot* (instance samplerobot-robot :init))
(send *ri* :angle-vector (send *robot* :reset-pose) 5000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

Package Description

hrpsys_gazebo_general

This package consists iob.cpp which is low-level interface of RobotHardware on hrpsys and IOBPlugin.cpp which is gazebo plugin to comunicate with iob.cpp.

Environment variables used in iob.cpp

HRPSYS_GAZEBO_IOB_NAME
- ROS node name of hrpsys(RobotHardware) node. (default: “hrpsys_gazebo_iob”)
HRPSYS_GAZEBO_CONFIGURATION
- ROS namespace of configuration parameters. (default: “hrpsys_gazebo_configuration”)
HRPSYS_GAZEBO_ROBOTNAME
- Robot Name
HRPSYS_GAZEBO_IOB_SYNCHRONIZED
- Synchronized mode between hrpsys step and gazebo step. (default: false)
HRPSYS_GAZEBO_IOB_SUBSTEPS
- Number of substeps. Controlling command will be sent in every substeps. (default: 1)

Setting of <robot_name>.yaml files

This is yaml file for configuring gazebo setting.

# top level name space()
hrpsys_gazebo_configuration:
# velocity feedback for joint control, use parameter gains/joint_name/p_v
  use_velocity_feedback: true
# synchronized hrpsys and gazebo
  use_synchronized_command: false
# name of robot (using for namespace)
  robotname: SampleRobot
# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
  joint_id_list: [0, ... , 28]
# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
  joints:
    - RLEG_HIP_R
    - CHEST
# joint gain settings
# Torque feedback mode
# effort := p * error + d * d/dt error + i * sigma (error) + vp * velocity_error
#   error := reference_position - current_position
#   velocity_error := reference_velocity - current_velocity
# Velociy feedback mode
# desired_velocity := p_v * error + reference_velocity
  gains:
    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
    RARM_WRIST_R:    {p:    20.0, d:  0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
# force sensor settings
#   list of force sensorname
  force_torque_sensors:
    - lfsensor
    - rfsensor
# configuration of force sensor
#   key of force_torque_sensors_config should be a member of force_torque_sensors
  force_torque_sensors_config:
    lfsensor: {joint_name: 'JOINT_NAME0', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
    rfsensor: {joint_name: 'JOINT_NAME1', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
# IMU sensor settings
# configuration of IMU sensor
#   key of imu_sensors_config should be a member of imu_sensors
# pose of imu_sensor relative to parent link should be specified in URDF.
  imu_sensors:
    - imu_sensor0
  imu_sensors_config:
    imu_sensor0: {ros_name: 'ros_imu_sensor', link_name: 'LINK_NAME0', frame_id: 'LINK_NAME0'}

Custom Plugins

CranePlugin

This plugin provides fake “Crane” in gazebo environment.

To use this plugin, add the following lines to your URDF.

<gazebo>
  <plugin filename="libCranePlugin.so" name="crane_plugin">
    <linkname>CHEST_LINK1</linkname>  <!-- The name of the link where the crane is attached -->
    <liftheight>1.2</liftheight>  <!-- Crane hanging height [m] -->
    <lowerheight>0.5</lowerheight>  <!-- Crane will be disabled below this height [m] -->
    <liftvelocity>0.1</liftvelocity>  <!-- [m/s] -->
    <lowervelocity>0.03</lowervelocity>  <!-- [m/s] -->
    <pgain>2500</pgain>  <!-- P gain for Z-axis error -->
    <dgain>500</dgain>  <!-- D gain for Z-axis error -->
    <damp>10000</damp>  <!-- Damping factor for other axes and rotation -->
  </plugin>
</gazebo>

Subscribed topics

[objname]/CranePlugin/LowerCommand (std_msgs::Empty)

Lower the crane to the ground.

[objname]/CranePlugin/LiftCommand (std_msgs::Empty)

Lift the crane to the lift height.

[objname]/CranePlugin/PoseCommand (geometry_msgs::Pose)

Place the robot to the pose.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/start-jsk/rtmros_gazebo.git
VCS Type	git
VCS Version	master
Last Updated	2022-04-25
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)

Packages

Name	Version
eusgazebo	0.1.12
hrpsys_gazebo_atlas	0.1.12
hrpsys_gazebo_general	0.1.12
hrpsys_gazebo_msgs	0.1.12
hrp2jsk_moveit_config	0.1.12
hrp2jsknt_moveit_config	0.1.12
hrp2jsknts_moveit_config	0.1.12
hrp2w_moveit_config	0.1.12
moveit_eus_ik_plugin	UNKNOWN
samplerobot_moveit_config	0.1.12
staro_moveit_config	0.1.12

README

rtmros_gazebo

gazebo simulation for rtmros robots

Install

Please refer rtmros_common for installing these packages.

Try Sample

Open Terminal and run gazebo

roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch  # kinetic and above
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers_indigo.launch  # indigo

Launch another terminal and start hrpsys-base

rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch  # kinetic and above
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup_indigo.launch  # indigo

Launch another terminal and send command to robot by roseus

roscd hrpsys_ros_bridge/euslisp/
roseus samplerobot-interface.l
(samplerobot-init)
(setq *robot* (instance samplerobot-robot :init))
(send *ri* :angle-vector (send *robot* :reset-pose) 5000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

Package Description

hrpsys_gazebo_general

This package consists iob.cpp which is low-level interface of RobotHardware on hrpsys and IOBPlugin.cpp which is gazebo plugin to comunicate with iob.cpp.

Environment variables used in iob.cpp

HRPSYS_GAZEBO_IOB_NAME
- ROS node name of hrpsys(RobotHardware) node. (default: “hrpsys_gazebo_iob”)
HRPSYS_GAZEBO_CONFIGURATION
- ROS namespace of configuration parameters. (default: “hrpsys_gazebo_configuration”)
HRPSYS_GAZEBO_ROBOTNAME
- Robot Name
HRPSYS_GAZEBO_IOB_SYNCHRONIZED
- Synchronized mode between hrpsys step and gazebo step. (default: false)
HRPSYS_GAZEBO_IOB_SUBSTEPS
- Number of substeps. Controlling command will be sent in every substeps. (default: 1)

Setting of <robot_name>.yaml files

This is yaml file for configuring gazebo setting.

# top level name space()
hrpsys_gazebo_configuration:
# velocity feedback for joint control, use parameter gains/joint_name/p_v
  use_velocity_feedback: true
# synchronized hrpsys and gazebo
  use_synchronized_command: false
# name of robot (using for namespace)
  robotname: SampleRobot
# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
  joint_id_list: [0, ... , 28]
# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
  joints:
    - RLEG_HIP_R
    - CHEST
# joint gain settings
# Torque feedback mode
# effort := p * error + d * d/dt error + i * sigma (error) + vp * velocity_error
#   error := reference_position - current_position
#   velocity_error := reference_velocity - current_velocity
# Velociy feedback mode
# desired_velocity := p_v * error + reference_velocity
  gains:
    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
    RARM_WRIST_R:    {p:    20.0, d:  0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
# force sensor settings
#   list of force sensorname
  force_torque_sensors:
    - lfsensor
    - rfsensor
# configuration of force sensor
#   key of force_torque_sensors_config should be a member of force_torque_sensors
  force_torque_sensors_config:
    lfsensor: {joint_name: 'JOINT_NAME0', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
    rfsensor: {joint_name: 'JOINT_NAME1', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
# IMU sensor settings
# configuration of IMU sensor
#   key of imu_sensors_config should be a member of imu_sensors
# pose of imu_sensor relative to parent link should be specified in URDF.
  imu_sensors:
    - imu_sensor0
  imu_sensors_config:
    imu_sensor0: {ros_name: 'ros_imu_sensor', link_name: 'LINK_NAME0', frame_id: 'LINK_NAME0'}

Custom Plugins

CranePlugin

This plugin provides fake “Crane” in gazebo environment.

To use this plugin, add the following lines to your URDF.

<gazebo>
  <plugin filename="libCranePlugin.so" name="crane_plugin">
    <linkname>CHEST_LINK1</linkname>  <!-- The name of the link where the crane is attached -->
    <liftheight>1.2</liftheight>  <!-- Crane hanging height [m] -->
    <lowerheight>0.5</lowerheight>  <!-- Crane will be disabled below this height [m] -->
    <liftvelocity>0.1</liftvelocity>  <!-- [m/s] -->
    <lowervelocity>0.03</lowervelocity>  <!-- [m/s] -->
    <pgain>2500</pgain>  <!-- P gain for Z-axis error -->
    <dgain>500</dgain>  <!-- D gain for Z-axis error -->
    <damp>10000</damp>  <!-- Damping factor for other axes and rotation -->
  </plugin>
</gazebo>

Subscribed topics

[objname]/CranePlugin/LowerCommand (std_msgs::Empty)

Lower the crane to the ground.

[objname]/CranePlugin/LiftCommand (std_msgs::Empty)

Lift the crane to the lift height.

[objname]/CranePlugin/PoseCommand (geometry_msgs::Pose)

Place the robot to the pose.

CONTRIBUTING

No CONTRIBUTING.md found.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

rtmros_gazebo repository

Repository Summary

Packages

README

rtmros_gazebo

Install

Try Sample

Package Description

hrpsys_gazebo_general

Environment variables used in iob.cpp

Setting of <robot_name>.yaml files

Custom Plugins

CranePlugin

Subscribed topics

CONTRIBUTING

Repository Summary

Packages

README

rtmros_gazebo

Install

Try Sample

Package Description

hrpsys_gazebo_general

Environment variables used in iob.cpp

Setting of <robot_name>.yaml files

Custom Plugins

CranePlugin

Subscribed topics

CONTRIBUTING