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igus_rebel_gazebo_ignition package from ros2-igus-rebel repoigus_rebel_commander igus_rebel_description_ros2 igus_rebel_gazebo_ignition igus_rebel_gripper_controller igus_rebel_hw_controller igus_rebel_moveit_config igus_rebel_servo |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | AIRLAB |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Igus Rebel controller with ROS2 and MoveIt2: hardware interfaces and commander demos |
| Checkout URI | https://github.com/airlab-polimi/ros2-igus-rebel.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-15 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | robotics moveit manipulator ros2 robotic-arm robotics-simulation moveit2 |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Michele Carlo La Greca
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.yamlcontains 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.yamlcontains 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.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |