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nextage_gazebo package from rtmros_nextage repo

nextage_calibration nextage_description nextage_gazebo nextage_ik_plugin nextage_moveit_config nextage_ros_bridge rtmros_nextage

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.8.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tork-a/rtmros_nextage.git
VCS Type git
VCS Version indigo-devel
Last Updated 2024-07-01
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Gazebo simulation for NEXTAGE Open

Additional Links

Maintainers

  • TORK

Authors

  • Kei Okada
  • Isaac I. Y. Saito
nextage_gazebo/README.md

nextage_gazebo

How to setup

  1. install from source
$ source /opt/ros/noetic/setup.bash                   ;; Setup ROS environment
$ mkdir -p ~/ws_nextage/src                           ;; Create workspace
$ cd ~/ws_nextage/src/                                ;; Move to workspace
$ git clone https://github.com/tork-a/rtmros_nextage  ;; Checkout source code
$ rosdep install -r --from-paths src --ignore-src     ;; Install dependency packages
;;
;; This command outputs following errors, but you can ignore
;;
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
nextage_moveit_config: Cannot locate rosdep definition for [hironx_moveit_config]
nextage_ros_bridge: Cannot locate rosdep definition for [ar_track_alvar]
nextage_calibration: Cannot locate rosdep definition for [turtlebot_description]
Continuing to install resolvable dependencies...
;;
  1. Build nextage_gazebo package

Note that normal catkin build will outputs build erros, so run following commands

$ catkin build nextage_gazebo nextage_description --no-deps

How to use

  1. Setup workspace environment
$ source ~/ws_nextage/devel/setup.bash
  1. Run gazebo simulator
$ roslaunch nextage_gazebo nextage_world.launch
  1. How to move arms

You can use rqt-joint-trajectory-controller to examine controllers

$ sudo apt install ros-noetic-rqt-joint-trajectory-controller
$ source /opt/ros/noetic/setup.bash 
$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
  1. Check list of topics
$ rostopic list
/CAMERA_HEAD_L/camera_info
/CAMERA_HEAD_L/image_raw
/CAMERA_HEAD_L/image_raw/compressed
/CAMERA_HEAD_L/image_raw/compressed/parameter_descriptions
/CAMERA_HEAD_L/image_raw/compressed/parameter_updates
/CAMERA_HEAD_L/image_raw/compressedDepth
/CAMERA_HEAD_L/image_raw/compressedDepth/parameter_descriptions
/CAMERA_HEAD_L/image_raw/compressedDepth/parameter_updates
/CAMERA_HEAD_L/image_raw/theora
/CAMERA_HEAD_L/image_raw/theora/parameter_descriptions
/CAMERA_HEAD_L/image_raw/theora/parameter_updates
/CAMERA_HEAD_L/parameter_descriptions
/CAMERA_HEAD_L/parameter_updates
/CAMERA_HEAD_R/camera_info
/CAMERA_HEAD_R/image_raw
/CAMERA_HEAD_R/image_raw/compressed
/CAMERA_HEAD_R/image_raw/compressed/parameter_descriptions
/CAMERA_HEAD_R/image_raw/compressed/parameter_updates
/CAMERA_HEAD_R/image_raw/compressedDepth
/CAMERA_HEAD_R/image_raw/compressedDepth/parameter_descriptions
/CAMERA_HEAD_R/image_raw/compressedDepth/parameter_updates
/CAMERA_HEAD_R/image_raw/theora
/CAMERA_HEAD_R/image_raw/theora/parameter_descriptions
/CAMERA_HEAD_R/image_raw/theora/parameter_updates
/CAMERA_HEAD_R/parameter_descriptions
/CAMERA_HEAD_R/parameter_updates
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/head_controller/command
/head_controller/follow_joint_trajectory_action/cancel
/head_controller/follow_joint_trajectory_action/feedback
/head_controller/follow_joint_trajectory_action/goal
/head_controller/follow_joint_trajectory_action/result
/head_controller/follow_joint_trajectory_action/status
/head_controller/gains/HEAD_JOINT0/parameter_descriptions
/head_controller/gains/HEAD_JOINT0/parameter_updates
/head_controller/gains/HEAD_JOINT1/parameter_descriptions
/head_controller/gains/HEAD_JOINT1/parameter_updates
/head_controller/state
/joint_states
/larm_controller/command
/larm_controller/follow_joint_trajectory_action/cancel
/larm_controller/follow_joint_trajectory_action/feedback
/larm_controller/follow_joint_trajectory_action/goal
/larm_controller/follow_joint_trajectory_action/result
/larm_controller/follow_joint_trajectory_action/status
/larm_controller/gains/LARM_JOINT0/parameter_descriptions
/larm_controller/gains/LARM_JOINT0/parameter_updates
/larm_controller/gains/LARM_JOINT1/parameter_descriptions
/larm_controller/gains/LARM_JOINT1/parameter_updates
/larm_controller/gains/LARM_JOINT2/parameter_descriptions
/larm_controller/gains/LARM_JOINT2/parameter_updates
/larm_controller/gains/LARM_JOINT3/parameter_descriptions
/larm_controller/gains/LARM_JOINT3/parameter_updates
/larm_controller/gains/LARM_JOINT4/parameter_descriptions
/larm_controller/gains/LARM_JOINT4/parameter_updates
/larm_controller/gains/LARM_JOINT5/parameter_descriptions
/larm_controller/gains/LARM_JOINT5/parameter_updates
/larm_controller/state
/rarm_controller/command
/rarm_controller/follow_joint_trajectory_action/cancel
/rarm_controller/follow_joint_trajectory_action/feedback
/rarm_controller/follow_joint_trajectory_action/goal
/rarm_controller/follow_joint_trajectory_action/result
/rarm_controller/follow_joint_trajectory_action/status
/rarm_controller/gains/RARM_JOINT0/parameter_descriptions
/rarm_controller/gains/RARM_JOINT0/parameter_updates
/rarm_controller/gains/RARM_JOINT1/parameter_descriptions
/rarm_controller/gains/RARM_JOINT1/parameter_updates
/rarm_controller/gains/RARM_JOINT2/parameter_descriptions
/rarm_controller/gains/RARM_JOINT2/parameter_updates
/rarm_controller/gains/RARM_JOINT3/parameter_descriptions
/rarm_controller/gains/RARM_JOINT3/parameter_updates
/rarm_controller/gains/RARM_JOINT4/parameter_descriptions
/rarm_controller/gains/RARM_JOINT4/parameter_updates
/rarm_controller/gains/RARM_JOINT5/parameter_descriptions
/rarm_controller/gains/RARM_JOINT5/parameter_updates
/rarm_controller/state
/rosout
/rosout_agg
/tf
/tf_static
/torso_controller/command
/torso_controller/follow_joint_trajectory_action/cancel
/torso_controller/follow_joint_trajectory_action/feedback
/torso_controller/follow_joint_trajectory_action/goal
/torso_controller/follow_joint_trajectory_action/result
/torso_controller/follow_joint_trajectory_action/status
/torso_controller/gains/CHEST_JOINT0/parameter_descriptions
/torso_controller/gains/CHEST_JOINT0/parameter_updates
/torso_controller/state
CHANGELOG

Changelog for package nextage_gazebo

0.8.6 (2020-06-17)

0.8.5 (2019-05-10)

  • add ar_track_alvar dependency and gazebo model path to nextage_gazebo/models (#362)
  • Contributors: Kei Okada, Yamamoto Yosuke

0.8.4 (2018-01-16)

0.8.3 (2017-12-22)

  • add model cafe_tabel and mod ar_headcamera.launch to spawn gazebo models in the case of sim:=true (#354)
  • Contributors: Yosuke Yamamoto

0.8.1 (2017-09-28)

  • Add files for manuals and tutorials / Changes for Gazebo head camera emulation (#350)
    • increase retry time
    • gz.test: set verbose to launch nextage_world.launch
    • time-limit 10 is too small for hz test
    • move ar marker model files to nextage_gazebo/models from nextage_moveit_config/models
    • mod name CAMERA_HEAD_R/L, remove CATKIN_IGNORE (forgot to add/rm them)
    • [Gazebo] Missing dependency for using camera plugin.
    • [Gazebo] Unwind the frequency test. hz requirement for Gazebo sensor plugin on Travis CI needs to be generous. There's a known issue about Gazebo's sensor frequency https://bitbucket.org/osrf/gazebo/pull-requests/2502/make-sure-cameras-fps-is-strictly-applied/diff and with the lack of GPU or higher CPU, the sensor output is significantly slow on Travis CI.
    • [gazebo] Add headmount cameras.
    • [gazebo] Remove a redundant model file that was added by mistake in https://github.com/tork-a/rtmros_nextage/pull/223.
    • [gazebo] Cleanup CMakeLists.txt, package.xml.
  • Contributors: Isaac Saito, Kei Okada, Yosuke Yamamoto

0.8.0 (2017-09-07)

0.7.16 (2017-05-04)

  • [enhance] nextage_gazebo/launch/nextage_gazebo_control.launch : add --shutdown-timeout
  • [enhance] nextage_gazebo/test/gz.test: add retry=2
  • Contributors: Isaac I.Y. Saito, Kei Okada

0.7.15 (2017-03-11)

0.7.14 (2017-02-21)

0.7.13 (2017-01-24)

0.7.12 (2017-01-10)

0.7.11 (2016-11-05)

0.7.10 (2016-10-19)

0.7.9 (2016-10-13)

  • [fix][test] gz.test must be one file to avoid collsion on gazebo master uri
  • [fix] Missing installation
  • [fix] : test/test_nxo_gz.py, because of changeing contorller parameter?
  • [improve] tune pid parameter for gazebo
  • Contributors: Kei Okada

0.7.8 (2016-07-01)

0.7.7 (2016-05-16)

0.7.6 (2016-02-09)

0.7.5 (2016-01-27)

  • [fix] fix namespace so that existing app can operate the robot on Gazebo
  • Contributors: Kei Okada

0.7.4 (2016-01-26)

0.7.3 (2015-12-31)

0.7.2 (2015-11-02)

0.7.1 (2015-10-26)

0.7.0 (2015-10-21)

0.6.6 (2015-10-17)

0.6.5 (2015-10-16)

0.6.4 (2015-10-02)

0.6.3 (2015-08-15)

0.6.2 (2015-05-12)

0.6.1 (2015-03-09)

0.6.0 (2015-02-03)

0.5.3 (2014-11-13)

0.5.2 (2014-11-03)

0.5.1 (2014-10-17)

0.4.2 (2014-10-01)

0.4.1 (2014-09-03)

0.2.18 (2014-08-01)

0.2.17 (2014-07-24 14:01)

0.2.16 (2014-07-24 10:09)

0.2.15 (2014-07-13)

0.2.14 (2014-06-20)

0.2.13 (2014-05-28)

0.2.12 (2014-05-06)

0.2.11 (2014-03-05)

0.2.10 (2014-02-18)

0.2.9 (2014-02-03 12:34)

0.2.8 (2014-02-03 03:12)

0.2.7 (2014-01-19)

0.2.6 (2014-01-13)

0.2.5 (2013-12-25)

0.2.4 (2013-12-03)

0.2.3 (2013-11-05)

0.2.2 (2013-11-04)

0.2.1 (2013-10-31)

0.2.0 (2013-10-30)

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.

Launch files

  • launch/nextage_world.launch
      • paused [default: false]
      • use_sim_time [default: true]
      • gui [default: true]
      • gzpose [default: -x 0.01 -y 0.01 -z 1.0]
      • headless [default: false]
      • debug [default: false]
      • physics [default: ode]
      • verbose [default: false]
      • sec_idle [default: 1.0]
      • visualize_laser [default: false]
      • world_file [default: worlds/empty.world]
      • extra_gazebo_args [default: ]
      • model [default: $(find nextage_description)/urdf/nxo_gz.xacro]
  • launch/rviz.launch
    • Took nextage_moveit_config/launch/moveit_rviz.launch as an example.
      • RVIZ_FIXEDFRAME [default: WAIST]
      • command_args [default: -d $(find nextage_gazebo)/launch/gz.rviz --fixed-frame $(arg RVIZ_FIXEDFRAME)]
      • debug [default: false] — Passing true to `debug` allows you to run this launch on gdb.
  • launch/nextage_gazebo_control.launch
  • launch/gz_viz.launch
    • Took nextage_moveit_config/launch/moveit_rviz.launch as an example.
      • debug [default: false] — Passing true to `debug` allows you to run this launch on gdb.
      • extra_gazebo_args [default: ]
      • gui [default: true]
      • gzpose [default: -x 0.01 -y 0.01 -z 1.0]
      • headless [default: false]
      • paused [default: false]
      • physics [default: ode]
      • sec_idle [default: 1.0]
      • use_sim_time [default: true]
      • verbose [default: false]
      • visualize_laser [default: false]
      • world_file [default: worlds/empty.world]
      • RVIZ_FIXEDFRAME [default: WAIST]
      • command_args [default: -d $(find nextage_gazebo)/launch/gz.rviz --fixed-frame $(arg RVIZ_FIXEDFRAME)]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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