🔧 add gazebo_ros_state plugin
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parent
2513de6e0d
commit
164cc3cc3f
3 changed files with 146 additions and 10 deletions
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@ -35,5 +35,6 @@ install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
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ament_package()
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@ -18,15 +18,25 @@ def generate_launch_description():
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description="Set robot name in gazebo env"
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))
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# Launch Gazebo
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare("gazebo_ros"),
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"launch",
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"gazebo.launch.py"
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])
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)
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world_file = os.path.join(get_package_share_directory("rasmt_support"), "world", "robossembler.world")
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gzserver = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare("gazebo_ros"),
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"launch",
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"gzserver.launch.py"
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])
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), launch_arguments={'world':world_file}.items()
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)
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gzclient = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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PathJoinSubstitution([
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FindPackageShare("gazebo_ros"),
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"launch",
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"gzclient.launch.py"
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])
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)
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)
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"""xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro")
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@ -55,7 +65,9 @@ def generate_launch_description():
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)"""
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launch_nodes = []
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launch_nodes.append(gazebo)
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#launch_nodes.append(gazebo)
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launch_nodes.append(gzserver)
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launch_nodes.append(gzclient)
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launch_nodes.append(spawn_entity)
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#launch_nodes.append(cube_spawn)
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123
rasmt_support/world/robossembler.world
Normal file
123
rasmt_support/world/robossembler.world
Normal file
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@ -0,0 +1,123 @@
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<sdf version='1.7'>
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<world name='default'>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose>0 0 10 0 -0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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<plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
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<ros>
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<!--namespace>/rasmt</namespace-->
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<argument>model_states:=model_states_demo</argument>
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</ros>
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<update_rate>1.0</update_rate>
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</plugin>
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<model name='ground_plane'>
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<static>1</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100</mu>
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<mu2>50</mu2>
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</ode>
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<torsional>
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<ode/>
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</torsional>
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</friction>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name='visual'>
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<cast_shadows>0</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<kinematic>0</kinematic>
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</link>
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</model>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>1</shadows>
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</scene>
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<wind/>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>0</latitude_deg>
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<longitude_deg>0</longitude_deg>
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<elevation>0</elevation>
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<heading_deg>0</heading_deg>
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</spherical_coordinates>
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<state world_name='default'>
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<sim_time>46 800000000</sim_time>
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<real_time>46 908490360</real_time>
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<wall_time>1642692487 464939457</wall_time>
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<iterations>46800</iterations>
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<model name='ground_plane'>
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<pose>0 0 0 0 -0 0</pose>
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<scale>1 1 1</scale>
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<link name='link'>
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<pose>0 0 0 0 -0 0</pose>
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<velocity>0 0 0 0 -0 0</velocity>
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<acceleration>0 0 0 0 -0 0</acceleration>
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<wrench>0 0 0 0 -0 0</wrench>
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</link>
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</model>
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<light name='sun'>
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<pose>0 0 10 0 -0 0</pose>
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</light>
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</state>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>9.78871 -9.25042 4.66792 0 0.399643 2.3322</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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