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Package Summary

Tags No category tags.
Version 0.1.0
License AIRLAB
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/airlab-polimi/ros2-igus-rebel.git
VCS Type git
VCS Version master
Last Updated 2024-07-15
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)

Package Description

Configurations and the launch file to run the Igus ReBeL 6 DOF robot arm in Gazebo Ignition Fortress.

Additional Links

No additional links.

Maintainers

  • Michele Carlo La Greca

Authors

No additional authors.

Igus ReBeL Gazebo Ignition simulation package

It contains the configurations and the launch file to run Gazebo Ignition.

Config

In this folder, there are the bridge configurations and the gui configurations.

Bridge

  • bridge_description.yaml contains the bridge between Ros2 and Gazebo Ignition topics that are used when the Igus ReBeL is run in description mode and connected also to Gazebo Ignition.

  • bridge_moveit.yaml contains the bridge between Ros2 and Gazebo Ignition topics that are used when the Igus ReBeL is run with MoveIt2 controller and connected also to Gazebo Ignition.

Gazebo GUI

gazebo_gui_moveit.config contains the Gazebo Ignition GUI configuration when it is supposed to be run in Moveit2 mode.

gazebo_gui_description.config contains the Gazebo Ignition GUI configuration when it is supposed to be run in Moveit2 mode. The only difference with the configuration of Moveit2 is that now there is the joint position controller GUI.

Launch

In this folder, there is the launch file ignition.launch.py which is used whenever Gazebo Ignition is needed to be run.

The additional arguments spawn_x, spawn_y, spawn_z, spawn_yaw can be optionally added to the command lines to change the spawned position of the robot in Gazebo Ignition.

The additional argument env_gazebo_package is used to define the package that contains specific Gazebo Ignition world files and bridges. This argument is set to default by default, and in this case, the world file loaded in Gazebo Ignition will be default.sdf contained in this current folder.

The additional argument full_world_name is used to define the world name to load in Gazebo Ignition. If the argument env_gazebo_package is set to default, this argument will noy be used.

Finally, the Gazebo Ignition main node, bridge and spawn entity are executed.

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

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged igus_rebel_gazebo_ignition at Robotics Stack Exchange

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