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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Hello (Real) World with ROS – Robot Operating System course source file |
| Checkout URI | https://github.com/shinyufish/delftx_ros1x_hrwros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-10-18 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | mooc simulation ros edx-course moveit gazebo manipulation urdf robot-operating-system flexbe gmapping srdf |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The hrwros_gazebo package
Additional Links
No additional links.
Maintainers
- Yizhe Zhang
Authors
- Yizhe Zhang
Gilbreth Gazebo Package
A Gazebo simulation environment for Gilbreth Project.
Plugins
The Gilbreth simulation environment utilizes several plugins, slightly modified, from the osrf_gear package. These include the conveyor belt simulator, vacuum gripper simulator, and object deletion plugins.
Currently the vacuum gripper plugin operates under a few key conditions:
- No drop conditions are simulated
- All objects that contact the gripper and whose contacting surface normal is within ~18 degrees of tool normal vector will be picked up
Conveyor Spawner
The conveyor spawner node allows for the random generation of a set of predefined objects onto the conveyor belt. Through a configuration file, a user can specify a mesh resource file, initial pose, and several placement randomization parameters for each object that should be spawned onto the conveyor.
The conveyor spawner node currently supports the randomization of 4 parameters:
- Order in which the parts are spawned onto the conveyor
- Placement of a part across the width of the conveyor (
lateral_placement_varianceparameter) - Orientation of part, normal to the surface of the conveyor (
yaw_placement_varianceparameter) - Delay from the nominal spawning period (
spawn_timing_varianceparameter)
The conveyor spawner operates under several important assumptions:
- The random numbers are generated using the std random library, resulting in a uniform distribution of numbers between 0 and RAND_MAX (32767)
- Each generated random number is normalized such that it becomes a double floating point number between 0 and 1
- Each “variance” parameter represents a unilateral tolerance.
- For example, specifying
lateral_placement_variance = 0.1means that the spawned object could be spawned anywhere between +/- 0.1m of the nominal initial pose (in the direction of the width of the conveyor)
- For example, specifying
- The randomization engine can be seeded using the
randomization_seedparameter for replication of the same sequence of randomized parameters
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| tinyxml |
Dependant Packages
| Name | Deps |
|---|---|
| hrwros_factory_states |
Launch files
- launch/set_psm_logger.launch
- launch/spawn_turtlebot.launch
- launch/spawn_static_world_objects.launch
- launch/spawn_robots.launch
- launch/hrwros_pick_demo2.launch
-
- paused [default: false]
- use_sim_time [default: true]
- gui [default: true]
- rviz [default: false]
- headless [default: false]
- debug [default: false]
- extra_gazebo_args [default: ]
- launch/hrwros_environment.launch
-
- paused [default: false]
- use_sim_time [default: true]
- gui [default: true]
- rviz [default: false]
- headless [default: false]
- debug [default: false]
- extra_gazebo_args [default: --verbose]
- launch/hrwros_pick_demo.launch
-
- paused [default: false]
- use_sim_time [default: true]
- gui [default: true]
- rviz [default: false]
- headless [default: false]
- debug [default: false]
- extra_gazebo_args [default: ]
Messages
Services
Plugins
No plugins found.
Recent questions tagged hrwros_gazebo at Robotics Stack Exchange
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