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https://github.com/advrhumanoids/gazebo_useful_plugins

https://github.com/advrhumanoids/gazebo_useful_plugins

Science Score: 13.0%

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Last synced: 10 months ago · JSON representation

Repository

Basic Info
  • Host: GitHub
  • Owner: ADVRHumanoids
  • Language: C++
  • Default Branch: master
  • Size: 16.6 KB
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  • Watchers: 2
  • Forks: 0
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Created almost 6 years ago · Last pushed almost 6 years ago
Metadata Files
Readme

README.md

gazebousefulplugins

These plugins allow you to play with the physics concepts of Gazebo and its dynamic simulator.

1) gazebotfinjector.cpp: using joint state publisher gui it's possible to set the world pose of the joints. Gazebo will auto-generate the force for the joints: useful link: https://github.com/acschaefer/gazebotfinjector

2) centauro_plugin.cpp: using XBotCore, it's possible to read the joint state and using the impedance control to generate the righ force.

How to run

1) Adding the plugin libcentauroplugin.so or libgazebotf_injector.so "Gazebo Plugin area" of the specific robot:

i.e: MultiDoF-superbuild/robots/centauro-simulator/centauro_gazebo/urdf/centauro.gazebo

 ......
<xacro:if value="${middleware == 'ros_control'}">
  <gazebo>
    <!-- XBOTCORE -->
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <!--<robotNamespace>/centauro</robotNamespace> -->
            <!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> -->
        </plugin>

    <plugin name="centauro_plugin" filename="/home/user/catkin_ws_gazebo/devel/lib/libcentauro_plugin.so"> </plugin> 
  <plugin name="gazebo_tf_injector" filename="/home/user/catkin_ws_gazebo/devel/lib/libgazebo_tf_injector.so"> </plugin> 
  ......

2) roslaunch gazebo_centauro.launch present in this project. 3) Check the result on gazebo.

Owner

  • Name: ADVR Humanoids
  • Login: ADVRHumanoids
  • Kind: organization
  • Email: luca.muratore@iit.it
  • Location: Istituto Italiano di Tecnologia

Humanoids & Human Centered Mechatronics, HHCM, IIT

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