roboticsgroup_upatras_gazebo_plugins

Collection of small gazebo plugins

MimicJointPlugin

A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.

• XML Parameters

  • joint (Required)

    A string specifying the name of the joint to be mimic-ed.

  • mimicJoint (Required)

    A string specifying the name of the mimic joint.

  • multiplier

    A double specifying the multiplier parameter of the mimic joint. Defaults to 1.0.

  • offset

    A double specifying the offset parameter of the mimic joint. Defaults to 0.0.

  • maxEffort

    A double specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model.

  • sensitiveness

    A double specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint’s and mimic’s) before applying the “mimicness”.

  • robotNamespace

    A string specifying the namespace the robot is under. Defaults to “”.

  • hasPID

    Determines whether the joint has PID in order to be controlled via PID position/effort controller. <hasPID/> means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.

DisableLinkPlugin

A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo’s physics engine.

• XML Parameters

  • link (Required)

    A string specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.

Hoping to add more plugins….

Usage

Standard Gazebo plugin import inside xacro/urdf. Use libroboticsgroup_upatras_gazebo_ prefix. E.g. if you want to import MimicJointPlugin:

libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so

Notes

If there is a need, please make an issue and I’ll see what I can do to add that functionality/plugin.

License

BSD

Copyright (c) 2014, Konstantinos Chatzilygeroudis

Changelog for package roboticsgroup_upatras_gazebo_plugins

0.2.0 (2020-08-21)

• Rename package
• Clean up package

0.1.0 (2020-08-14)

• Added DisableLink Model Plugin
• Added sensitiveness parameter to MimicJointPlugin
• Added maxEffort parameter to MimicJoint plugin
• Added PID control capability to mimic joint plugin
• Move catkin_package macro so it is called before targets are defined. Fixes plugins not getting found when doing isolated builds
• Add missing setForce() call (otherwise PID option doesn't do anything)
• Support of Gazebo 7 was added
• Support all PID gain parameters, dynamic_reconfigure This change does the following:
  • the PID controllers will read all PID gain parameters (p, i, d, i_clamp, antiwindup, publish_state, ...)
  • a warning will be printed if none of those parameters could be found
  • it's possible to adjust the parameters using dynamic_reconfigure
• Adjust to Gazebo 8 API Note about the DisconnectWorldUpdateBegin: This function was deprecated in favor of resetting the ConnectionPtr, see here: https://bitbucket.org/osrf/gazebo/pull-requests/2329/deprecate-event-disconnect-connectionptr/diff
• Add fix for gazebo_ros_pkgs#612 This issue also affects the mimic joint plugin: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612 The commit here fixes that issue for Gazebo 9. We should change the GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported to Gazebo 7 and 8: https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
• Add warning when triggering gazebo_ros_pkgs#612
• Update parameters
  • Default max effort to limit from sdf model
  • Default namespace to empty string
  • Fix sensitiveness calculation
• Add option to change the namespace of the pid
• Set CMP0054 for building with Gazebo9
• Use SetParam for effort limit
• Add license notice