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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

Website

Maintainers

TORK

Authors

Kei Okada
Isaac I. Y. Saito

nextage_gazebo/README.md

nextage_gazebo

How to setup

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...
;;

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

Setup workspace environment

$ source ~/ws_nextage/devel/setup.bash

Run gazebo simulator

$ roslaunch nextage_gazebo nextage_world.launch

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

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)

Merge pull request #371 from pazeshun/add-bright-world Add gazebo world for non-NVIDIA GPU
Add gazebo world for non-NVIDIA GPU Without activating NVIDIA GPU, world is very dark on gazebo 9 (ROS melodic), so disable shadow to make world bright See https://github.com/tork-a/rtmros_nextage/issues/370 See https://bitbucket.org/osrf/gazebo/issues/2623/no-shadows-and-sun-light-with-non-nvidia
use default instaed of value of <arg name='model'> tag
[nextage_gazebo/package.xml] add gazebo_model_path setting.
Contributors: Kei Okada, Masaki Murooka, Shun Hasegawa

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)

need to wait for finishing go_initial.py (https://github.com/tork-a/rtmros_nextage/pull/223/files#diff-16b25951a50b1e80569929d32a09102bR14)
pass arg GUI
[gz] Retry tests upon failure
[gz] Add small unit tests
[gz] Minor formatting
[gazebo] Add non-zero mass so that links are not ignored
update control parameters
http://answers.ros.org/question/200777/using-both-jointtrajectorycontroller-and-jointpositioncontroller-at-same-time-in-ros_control, we may not need both position controller and trajectory controller
use NextageOpen name space, use robot name. Not sure if this is necessary
package.xml: add depends to ros_controllers
set depend from nextage_description to nextage_gazebo is not a good idea, nextage_gazbeo should depends on nextage_description
[gazebo] Add non-zero mass so that links are not ignored
Add Gazebo package. So far model not shown, and model seems to keep falling.
Contributors: Isaac I.Y. Saito, Kei Okada

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.

Package Dependencies

Deps	Name
	catkin
	gazebo_plugins
	gazebo_ros
	gazebo_ros_control
	nextage_description
	ros_controllers
	rostest
	nextage_moveit_config

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nextage_calibration
rtmros_nextage

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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