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gazebo_planar_move_plugin package from gazebo_planar_move_plugin repogazebo_planar_move_plugin |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.2 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
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 |
| 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
Additional Links
Maintainers
- Boeing
Authors
- Boeing
Gazebo Planar Movement Plugin
| Distro | CI Status |
| —— | ———————————————————————————————————————————————————————————————– |
| Humble | 
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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)
Changelog for package gazebo_planar_move_plugin
1.0.1 (2024-02-21)
Inital release
- Contributors: Beau Colley-Allerton, Christopher McDermott, Gines Lopez Canovas, Ivan Villaverde De La Nava, Iñigo Moreno, Jason Cochrane, Leandro Ruiz, Leandro Ruiz-Lozano, Leng Vongchanh, Nathan Hui, Phillip Haeusler, Richard Bain, RoBeau, William Ko
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| launch_testing_ament_cmake | |
| ros2launch | |
| robot_state_publisher | |
| gazebo_dev | |
| gazebo_ros | |
| rclcpp | |
| geometry_msgs | |
| sensor_msgs | |
| nav_msgs | |
| tf2_ros | |
| tf2_geometry_msgs |
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
| Name | Deps |
|---|---|
| omni_base_description |