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Package Summary
| Tags | No category tags. |
| Version | 0.3.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | ROS2 was developed for the Realman robot (http://www.realman-robotics.com/). |
| Checkout URI | https://github.com/realmanrobot/ros2_rm_robot.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-01-09 |
| Dev Status | UNKNOWN |
| 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
An automatically generated package with all the configuration and launch files for using the rm_65_description with the MoveIt Motion Planning Framework
Additional Links
Maintainers
- Kaola
Authors
- Kaola
[简体中文](https://github.com/RealManRobot/ros2_rm_robot/blob/humble/rm_gazebo/README_CN.md)|[English](https://github.com/RealManRobot/ros2_rm_robot/blob/humble/rm_gazebo/README.md)
# RealMan Robotic Arm rm_gazebo User Manual V1.3
RealMan Intelligent Technology (Beijing) Co., Ltd.
Revision History:
|No. | Date | Comment |
| :---: | :----: | :---: |
|V1.0 | 2/19/2024 | Draft |
|V1.1 | 7/3 /2024 | Amend(Add GEN72 adapter files) |
|V1.1.1 | 8/13/2024 | Amend(Add arm type description)|
|V1.2 | 9/10/2024 | Amend(Add ECO63 adapter files) |
|V1.3 | 25/12/2024 | Amend(Add 63, 65, 75, ECO65 six-axis force adapter files and 63, 65, 75, ECO63, ECO65 integrated six-axis force adapter files) |
Content
- 1.rm_gazebo Package Description
- 2.rm_gazebo Package Running
- 2.1Control of the simulation robotic arm
- 3.rm_gazebo Package Architecture Description
- 3.1Overview of Package Files
rm_gazebo_Package_Description
rm_gazebo is mainly used for realizing the simulation function of robot arm Moveit2 planning. We build a virtual robotic arm in the simulation environment of Gazebo, and then control the virtual robot arm in Gazebo through Moveit2. This package is introduced in detail in the following aspects.
- 1.Package use.
- 2.Package architecture description. Through the introduction of this part, it can help you:
- 1.Understand the package use.
- 2.Familiar with the file structure and function of the package.
Source code address: https://github.com/RealManRobot/ros2_rm_robot.git。
rm_gazebo_Package_Running
Control_of_the_simulation_robotic_arm
After the installation of the environment and the package, we can run the rm_gazebo package.
Use the following command to launch the Gazebo virtual space and the virtual robotic arm.
rm@rm-desktop:~$ ros2 launch rm_gazebo gazebo_65_demo.launch.py
The command to start the six-axis force version of the manipulator is (note: eco63 is not available):
rm@rm-desktop:~$ ros2 launch rm_gazebo gazebo_<arm_type>_6f_demo.launch.py
The command to start the integrated six-axis force version of the manipulator is :
rm@rm-desktop:~$ ros2 launch rm_gazebo gazebo_<arm_type>_6fb_demo.launch.py
In practice, the above
rm@rm-desktop:~$ ros2 launch rm_<arm_type>_config gazebo_moveit_demo.launch.py
The command to start the six-axis force version of the manipulator is (note: eco63 is not available):
rm@rm-desktop:~$ ros2 launch rm_<arm_type>_config gazebo_moveit_demo_6f.launch.py
The command to start the integrated six-axis force version of the manipulator is :
rm@rm-desktop:~$ ros2 launch rm_<arm_type>_config gazebo_moveit_demo_6fb.launch.py
In practice, the above
rm_gazebo_Package_Architecture_Description
Overview_of_Package_Files
The current rm_gazebo package is composed of the following files.
├── CMakeLists.txt # compilation rule file
├── config
│ ├── gazebo_63_6fb_description.urdf.xacro #RML63 integrated six-axis force gazebo launch file
│ ├── gazebo_65_6fb_description.urdf.xacro #RM65 integrated six-axis force gazebo launch file
│ ├── gazebo_75_6fb_description.urdf.xacro #RM75 integrated six-axis force gazebo launch file
│ ├── gazebo_eco63_6fb_description.urdf.xacro #ECO63 integrated six-axis force gazebo launch file
│ ├── gazebo_eco65_6fb_description.urdf.xacro #ECO65 integrated six-axis force gazebo launch file
│ ├── gazebo_63_description.urdf.xacro #63gazebo model description file
│ ├── gazebo_65_description.urdf.xacro #65gazebo model description file
│ ├── gazebo_75_description.urdf.xacro #75gazebo model description file
│ ├── gazebo_eco65_description.urdf.xacro #eco65gazebo model description file
│ ├── gazebo_eco63_description.urdf.xacro #eco63gazebo model description file
│ └── gazebo_gen72_description.urdf.xacro #gen72gazebo model description file
├── doc
│ ├── rm_gazebo1.png
│ └── rm_gazebo2.png
├── launch
│ ├── gazebo_63_6fb_demo.launch.py #63 integrated six-axis force gazebo launch file
│ ├── gazebo_63_6f_demo.launch.py #63 six-axis force gazebo launch file
│ ├── gazebo_63_demo.launch.py #63 gazebo launch file
│ ├── gazebo_65_6fb_demo.launch.py #RM65 integrated six-axis force gazebo launch file
│ ├── gazebo_65_6f_demo.launch.py #RM65 six-axis force gazebo launch file
│ ├── gazebo_65_demo.launch.py #RM65 gazebo launch file
│ ├── gazebo_75_6fb_demo.launch.py #RM75 integrated six-axis force gazebo launch file
│ ├── gazebo_75_6f_demo.launch.py #RM75 six-axis force gazebo launch file
│ ├── gazebo_75_demo.launch.py #RM75 gazebo launch file
│ ├── gazebo_eco63_6fb_demo.launch.py #ECO63 integrated six-axis force gazebo launch file
│ ├── gazebo_eco63_demo.launch.py #ECO63 gazebo launch file
│ ├── gazebo_eco65_6fb_demo.launch.py #ECO65 integrated six-axis force gazebo launch file
│ ├── gazebo_eco65_6f_demo.launch.py #ECO65 six-axis force gazebo launch file
│ ├── gazebo_eco65_demo.launch.py #ECO65 gazebo launch file
│ └── gazebo_gen72_demo.launch.py #gen72gazebo launch file
├── package.xml
├── README_CN.md
└── README.md
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 rm_gazebo at Robotics Stack Exchange
|
rm_gazebo package from rm_control reporm_common rm_control rm_dbus rm_gazebo rm_hw rm_msgs rm_referee rm_vt |
Package Summary
| Tags | No category tags. |
| Version | 0.1.20 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | 🤖 Hardware/simulation interface base on ros-controls for developing RoboMaster robots and high-performance robots. |
| Checkout URI | https://github.com/rm-controls/rm_control.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-04-23 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A template for ROS packages.
Additional Links
No additional links.
Maintainers
- Qiayuan Liao
Authors
- Qiayuan Liao
Package Name
Overview
This is a template: replace, remove, and add where required. Describe here what this package does and what it’s meant for in a few sentences.
Keywords: example, package, template
Or, add some keywords to the Bitbucket or GitHub repository.
License
The source code is released under a BSD 3-Clause license.
Author: Péter Fankhauser
Affiliation: ANYbotics
Maintainer: Péter Fankhauser, pfankhauser@anybotics.com
The PACKAGE NAME package has been tested under ROS Indigo, Melodic and Noetic on respectively Ubuntu 14.04, 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
Installation
Installation from Packages
To install all packages from the this repository as Debian packages use
sudo apt-get install ros-noetic-...
Or better, use rosdep:
sudo rosdep install --from-paths src
Building from Source
Dependencies
- Robot Operating System (ROS) (middleware for robotics),
-
roboticsgroup_upatras_gazebo_plugins
sudo rosdep install –from-paths src
Building
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/ethz-asl/ros_best_practices.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make
Unit Tests
Run the unit tests with
catkin_make run_tests_ros_package_template
Static code analysis
Run the static code analysis with
catkin_make roslint_ros_package_template
Usage
Describe the quickest way to run this software, for example:
Run the main node with
roslaunch ros_package_template ros_package_template.launch
Config files
Config file folder/set 1
- config_file_1.yaml Shortly explain the content of this config file
Config file folder/set 2
- …
Launch files
-
launch_file_1.launch: shortly explain what is launched (e.g standard simulation, simulation with gdb,…)
Argument set 1
-
argument_1Short description (e.g. as commented in launch file). Default:default_value.
Argument set 2
...
-
-
…
Nodes
ros_package_template
Reads temperature measurements and computed the average.
Subscribed Topics
-
/temperature([sensor_msgs/Temperature])The temperature measurements from which the average is computed.
Published Topics
…
Services
-
get_average([std_srvs/Trigger])Returns information about the current average. For example, you can trigger the computation from the console with
rosservice call /ros_package_template/get_average
Parameters
-
subscriber_topic(string, default: “/temperature”)The name of the input topic.
-
cache_size(int, default: 200, min: 0, max: 1000)The size of the cache.
Bugs & Feature Requests
Please report bugs and request features using the Issue Tracker .
CHANGELOG
Changelog for package rm_gazebo
0.1.20 (2023-06-20)
- Merge branch 'master' into suggest_fire
- Merge branch 'rm-controls:master' into master
- Merge branch 'dev/ui_refact' into dev/balance_cmd_send
- Merge branch 'master' into dev/ui_refact # Conflicts: # rm_referee/include/rm_referee/common/protocol.h # rm_referee/src/ui/graph.cpp
- Merge pull request #146 from ye-luo-xi-tui/master 0.1.19
- Merge branch 'rm-controls:master' into master
- Merge pull request #1 from rm-controls/master 1
- Contributors: 1moule, ye-luo-xi-tui, yuchen, 王湘鈜
0.1.19 (2023-05-03)
- Merge branch 'master' into multi_dof_controller # Conflicts: # rm_common/include/rm_common/decision/command_sender.h # rm_msgs/CMakeLists.txt
- Merge branch 'master' into one_click_turn_cmd_sender
- Merge branch 'master' into switch_camera_command_sender # Conflicts: # rm_referee/include/rm_referee/ui/trigger_change_ui.h # rm_referee/src/ui/trigger_change_ui.cpp
- Merge pull request #120 from ye-luo-xi-tui/master 0.1.18
- Contributors: 1moule, LSY, ye-luo-xi-tui
0.1.18 (2023-03-25)
- Merge branch 'master' into dev/polygon_ui
- Merge pull request #107 from chenhuiYu00/gazebo_imu_reserve Fix imu problem in gazebo simulation.
- Use list instead of vector.
- Merge branch 'master' into gazebo_imu_reserve
- Pre-allocate imu vector memory.
- Merge pull request #106 from YoujianWu/work Delete dependence roslint.
- Run pre-commit.
- Delete dependence roslint.
- Merge branch 'master' into acceleration # Conflicts: # rm_common/include/rm_common/decision/command_sender.h
- Merge pull request #104 from ye-luo-xi-tui/master 0.1.17
- Contributors: Kook, ye-luo-xi-tui, yezi, yuchen
0.1.17 (2023-02-21)
- Merge pull request #99 from ye-luo-xi-tui/master Fix bug
- Fix bug.
- Add gravity.
- Merge branch 'rm-controls:master' into master
- Merge pull request #84 from ye-luo-xi-tui/master 0.1.16
- Merge branch 'rm-controls:master' into master
- Contributors: ye-luo-xi-tui, yezi, 吕骏骐
0.1.16 (2022-11-24)
- Merge branch 'master' into new_ui_test
- Merge branch 'master' into dev/command_sender
- Merge pull request #79 from ye-luo-xi-tui/rm_imu_handle Add RmImuSensorInterface and add a service to enable or disable imus in rm_gazebo
- Add RmImuSensorInterface.
- Add a service to enable or disable imus.
- Merge branch 'dev'
- Merge branch 'rm-controls:master' into master
- Merge branch 'master' into rm_referee_pr
- Merge pull request #74 from ye-luo-xi-tui/dev Update 0.1.15
- Merge branch 'master' into referee # Conflicts: # rm_common/include/rm_common/decision/service_caller.h # rm_msgs/CMakeLists.txt # rm_msgs/msg/referee/GameRobotStatus.msg # rm_msgs/msg/referee/GameStatus.msg
- Merge branch 'master' into referee1
- Contributors: ye-luo-xi-tui, yezi, yuchen, 吕骏骐
0.1.15 (2022-09-02)
0.1.14 (2022-06-16)
0.1.13 (2022-06-12)
0.1.12 (2022-06-11)
- Merge pull request #59 from ye-luo-xi-tui/master 0.1.11
- Contributors: QiayuanLiao
0.1.11 (2022-06-10)
- Merge remote-tracking branch 'origin/master'
- Contributors: QiayuanLiao, YuuinIH, qiayuan
0.1.10 (2022-05-22)
0.1.9 (2022-3-28)
- Revert "Update package.xml" This reverts commit 835659c320b5e1219ea9c61d04b4017a0c9a850a.
- Update package.xml
- Merge remote-tracking branch 'origin/master'
- Merge branch 'master' of github.com:ye-luo-xi-tui/rm_control
- Merge pull request #24 from ye-luo-xi-tui/gazebo Load imu params into gazebo
- Load imu params into gazebo.
- Contributors: Jie j, QiayuanLiao, YuuinIH, yezi
0.1.8 (2021-12-7)
- Fix imu inertia and add imu to balance
- Merge branch 'master' into gimbal/opti_or_simplify
- Update CHANGELOG
- Merge branch 'master' into gimbal/opti_or_simplify
- Update URDF of imu
- Contributors: qiayuan
0.1.7 (2021-09-26)
- 0.1.6
- Update CHANGELOG
- Update URDF of imu
- Merge branch 'namespace' into rm_gazebo/imu_sensor_interface
- Merge pull request #8 from ye-luo-xi-tui/namespace Change name of namespace:from hardware_interface to rm_control.
- Change name of namespace:from hardware_interface to rm_control.
- Fix some stupid imu_sensor_interface bug in rm_gazebo
- Tested rm_gazebo imu data using Debug in line. TODO: Add gravity and noise to the data
- Add imu_sensor_interface without test.
- Contributors: QiayuanLiao, qiayuan, yezi
0.1.6 (2021-09-26)
- Update URDF of imu
- Merge branch 'namespace' into rm_gazebo/imu_sensor_interface
- Merge pull request #8 from ye-luo-xi-tui/namespace Change name of namespace:from hardware_interface to rm_control.
- Change name of namespace:from hardware_interface to rm_control.
- Fix some stupid imu_sensor_interface bug in rm_gazebo
- Tested rm_gazebo imu data using Debug in line. TODO: Add gravity and noise to the data
- Add imu_sensor_interface without test.
- Contributors: QiayuanLiao, qiayuan, yezi
0.1.5 (2021-09-02)
0.1.4 (2021-09-02)
0.1.3 (2021-09-01)
- Merge remote-tracking branch 'origin/master'
- Merge branch 'master' into master
- Use “pragma once” in rm_gazebo headers instead of include guards.
- Merge branch 'master' into master
- Contributors: QiayuanLiao, chenzheng, ye-luo-xi-tui, yezi
- Merge remote-tracking branch 'origin/master'
- Merge branch 'master' into master
- Use “pragma once” in rm_gazebo headers instead of include guards.
- Merge branch 'master' into master
- Contributors: QiayuanLiao, chenzheng, ye-luo-xi-tui, yezi
0.1.2 (2021-08-14)
- Run pre-commit
- Format rm_gazebo using clang-format
- Contributors: qiayuan
0.1.1 (2021-08-12)
- Reset all version to 0.1.0
- Contributors: qiayuan
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 | |
| rm_description | |
| roboticsgroup_upatras_gazebo_plugins | |
| roscpp | |
| rm_common | |
| gazebo_ros | |
| gazebo_ros_control |
System Dependencies
| Name |
|---|
| gazebo |
Dependant Packages
No known dependants.
Launch files
- launch/small_resource.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/exchange_station.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/sentry_world.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: -0.06]
- z_pos [default: 0.06]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/warthog_race_world.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/stone.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/rmuc.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/big_resource.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer,sentry]
- load_chassis [default: true]
- load_gimbal [default: false]
- load_shooter [default: false]
- load_arm [default: true]
- paused [default: false]
- roller_type [default: simple] — simple or realistic
- launch/empty_world.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer,sentry,rmua]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- roller_type [default: simple] — simple or realistic
- launch/slope.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
- launch/step.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, auto, hero, engineer]
- x_pos [default: 0.0]
- y_pos [default: 0.0]
- z_pos [default: 0.0]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- paused [default: false]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged rm_gazebo at Robotics Stack Exchange
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