centauro-simulator meta-package README description

Directores:

- centauro

It includes the description of the robot, i.e. the urdf represantation, in addition to the rviz launch file.

- centauro_gazebo

It contains all files related to the gazebo simulator including the world files configuring the gazebo environment, and the main launch file.

- documentation

It presents the naming convention of different elements of the robot; for instance:

actuator: motor{jointname}: ex. motor_hip

transmission: t{jointname}: ex. t_hip

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Running procedure:

• running the simulation:

roslaunch centaurogazebo centauroworld.launch

• running the simulation with arguments:

roslaunch centaurogazebo centauroworld.launch arg:=value ex. roslaunch centaurogazebo centauroworld.launch legs:=false paused:=false hands:=false gui:=true rviz:=true gazebo:=false

• additionally, two scripts are provided to publish missing transforms from robotstatepublisher:

rosrun centauroros loadfixedtransforms - loads static transforms for fixed joints not recognized by a robotstatepublisher (requires urdfdompy package)

rosrun centauroros gazebobase_transform - publishes a transform from 'world' to 'pelvis' for a floating base system

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Optional arguments:

Basic simulation set-up

| Argument | Default | Values | Description | | ---| --- | --- | --- | | gazebo | true | true, false | whether the gazebo simulation should be run or not | | rviz | false | true, false |whether the rviz visualization tool should be run or not | | middleware | xbotcore | xbotcore, roscontrol | which middleware should be used to connect with gazebo | | xbotconfigfile | configs/ADVRshared/centauro/configs/config_centauro.yaml | string | path to xbot config file |

Gazebo configuration parameters

| Argument | Default | Values | Description | | ---| --- | --- | --- | | paused | true | true, false | if the simulation should be paused at the beginning, may be useful if initialization takes time | | usesimtime | true | true, false | if ROS should be driven by a simulation time or the world clock | | gui | true | true, false | if gazebo GUI should be started | | debug | false | true, false | if gazebo should start through gdb | | physics | ode | ode, bullet, simbody | which physics engine should be loaded| | verbose | false | true, false | if verbose logging information should be loaded |

CENTAURO model configuration parameters

Defined which part of the robot should be loaded

| Argument | Default | Values | Description | | ---| --- | --- | --- | | arms | true | true, false, right, left | if 'false' arms are not loaded, if 'left'/'right' only this arm is loaded | | torso | true | true, false, fixed | if torso should be loaded, if not also the rest of upper-body is not loaded, if 'fixed' torsoyaw joint is fixed | | legs | true | true, false | if legs should be loaded, if not also wheels are not loaded | | head | false | true, false | if head should be loaded | | wheels | false | true, false | OBSOLETE: if wheels should be loaded | | static | false | true, false | if the system is floating base or static | | mass | 0 | positive number | 5x5x5 cm box is added 10 cm from a last arm joint axis of mass kg | | leftendeffector | stick | stick, heri, softhand, schunkhand, fixedsofthand, unknown* | which endeffector should be loaded on the left arm, if unknown no endeffector will be loaded | rightendeffector | stick | stick, heri, softhand, schunkhand, fixedsofthand, unknown* | which endeffector should be loaded on the right arm, if unknown no end_effector will be loaded

• 'unknown' argument means any string that is not defined as a specific value for this argument

CENTAURO model actuators configuration

Defines which part of the robot should be actuated

| Argument | Default | Description | | ---| --- | --- | | torsoactuators | true | if torso should be actuated | | armactuators | true | if arms should be actuated | | legactuators | true | if legs should be actuated | | wheelsactuators | true | if wheels should be actuated | | head_actuators | true | if head should be actuated |

CENTAURO model sensors configuration

Defines which sensors should be loaded for the robot

| Argument | Default | Description | Depends | | ---| --- | --- | --- | | armsensors | true | if sensors on arms should be loaded | | legsensors | true | if sensors on legs should be loaded | | ft_sensors | true | if force-torque sensors should be loaded | | bumbers | true | if bumber sensors should be loaded | | imu | true | if imu should be loaded | pelvis | | kinect | true | if kinect plugin should be loaded | head | | velodyne | true | if velodyne plugin should be loaded | head |

CENTAURO collision and visualization models

Argument visual_model: default value mesh

Argument collision_model: default value convex_hull

For robot visualization and collision models two arguments 'visualmodel' and 'collisionmodel' are defined, respectively. Each accepts any of following values

| Value | Description | | ---| --- | | mesh | load realistic mesh file for each link | | simplified | load simplified realistic mesh files | | convex_hull | load file describing a convex hull object for each link | | capsule | load capsules computed based on the model | | unknown* | load predefined primitives |

In case a specific model is not defined for some links, the predefined primitives will be loaded for these links.

• 'unknown' argument means any string that is not defined as a specific value for this argument

A simulation environment that should be loaded:

WARNING: exactly one parameter has to be true, otherwise simulation behaviour is undefined -->

| Argument | Default | Description | | ---| --- | --- | | worldname | $(find centaurogazebo)/worlds/centauro.world | which simulation environment should be loaded | | kinematicparam | original | name of a .xacro file with simulator kinematic parameters w.r.t $SIMULATORPATH/centauro-simulator/centauro/centaurourdf/kinematicparameters folder | inertiaparam | original | name of a .xacro file with simulator dynamic parameters w.r.t $SIMULATORPATH/centauro-simulator/centauro/centaurourdf/inertiaparameters folder

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How To Generate URDF from Xacro

• Example with current set of argument:

rosrun xacro xacro --inorder -o test.urdf centauro.urdf.xacro GAZEBO:=false ARMS:=true TORSO:=true ARMACTUATORS:=true LEGS:=true LEGACTUATORS:=true TORSOACTUATORS:=true WHEELS:=false WHEELSACTUATORS:=false STATIC:=false COLLISIONMODEL:=convexhull VISUALMODEL:=mesh ENDEFFECTOR:=stick ARMSENSORS:=false MASS:=0 INERTIAPARAM:=original KINEMATICPARAM:=original HEADACTUATORS:=true HEAD:=true

• Using script generating urdf file calling:

$SIMULATORPATH/centauro-simulator/centauro/centaurourdf/script/createurdfsrdf_sdf.sh centauro

WARNING: it uses the parameters defined in: $SIMULATORPATH/centauro-simulator/centauro/centaurourdf/urdf/config/ros_args

the new urdf file $SIMULATORPATH/centauro-simulator/centauro/centaurourdf/urdf/centauro.urdf is generated ONLY IF this file does not exists.