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https://github.com/advrhumanoids/gazebo_tf_pub

https://github.com/advrhumanoids/gazebo_tf_pub

Science Score: 13.0%

This score indicates how likely this project is to be science-related based on various indicators:

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    CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
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    .zenodo.json file
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    DOI references
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    Scientific vocabulary similarity
    Low similarity (3.6%) to scientific vocabulary
Last synced: 10 months ago · JSON representation

Repository

Basic Info
  • Host: GitHub
  • Owner: ADVRHumanoids
  • Language: C++
  • Default Branch: master
  • Size: 9.77 KB
Statistics
  • Stars: 1
  • Watchers: 1
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created almost 6 years ago · Last pushed almost 6 years ago
Metadata Files
Readme

README.md

gazebotfpub

This is a plugin that publishes the tfs using the gazebo world pose of a specific link declared into the urdf used by Gazebo. Calling a specific service and declaring the link, if it exists,the plugin will publish the tf using like parent the "gazebo/world". Furthermore, It's possible to publish all links always calling the same service inserting the keyword "all". The plugin will publish the tf of every link connect with its parent until the main "gazebo/world" tf is reached.

How to run

1) Adding the plugin libgazebotfplugin.so "Gazebo Plugin area" of the specific robot:

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

 ......
 <xacro:if value="${middleware == 'xbotcore'}">
   <gazebo>
        <plugin name="gazebo_tf_plugins"  filename="CATKINK_PATH/devel/lib/libgazebo_tf_plugin.so"></plugin>
        <plugin name="gazebo_xbot_plugin" filename="libGazeboXBotPlugin.so">
            <path_to_config_file>${xbot_config_file}</path_to_config_file>
        </plugin>
  ......

2) Run Gazebo and play run. 3) rosservice call /gazebotfixpub/gazebo/pubtflink "linkname: 'SPECIFILINK'" or insert 'all'. 4) Check the result on rviz for instance.

It's possible to reset the link name using:

rosservice call /gazebotfixpub/gazebo/cleartflink "{}"

Moreover: It's possible to use this plugin to print the overall model tf to a specific link. It simulates the odometry into gazebo.

rosservice call /gazebotfixpub/gazebo/pubtfworld "link_name: 'world'"

To clear:

rosservice call /gazebotfixpub/gazebo/cleartfworld "{}"

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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