[pepper_gazebo_plugin] add base_footprint2 to use planar move plugin

[kochigami]

I'd like to make Pepper move by /cmd_vel in the gazebo world.

I added planar move plugin in pepper.urdf and pepperGazebo.xacro instead of diff drive .
However, just using it causes pepper's weird movement as discussed in #28.
In order to avoid it, I added base_footprint2 near base_link in pepper_torso.xacro.

As for planar move plugin, I'd like to use ros-simulation/gazebo_ros_pkgs#372 .
In addition, the parameter of launch_control_trajectory_all in pepper_gazebo_plugin_Y20.launch (in pepper_gazebo_plugin) has to be set false.
[Edited] to use this without changing launch_control_trajectory_all to false,
I sent ros-naoqi/pepper_virtual#7

The only problem is pepper bends down and gradually returns to the original pose when we send a big value like

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.8
  y: 0.8
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" -1

If there is any problem, please let me know.
(I'm wondering whether there are other programs which use pepper.urdf, pepper_torso.xacro...)

Thank you very much @ k-okada.

[nlyubova]

Could you please remove this commented part?

[nlyubova]

Ah non, this urdf file should be regenerated from macro, so if we remove this code from macro than it won't be here

[nlyubova]

Could you please remove this commented part?

[nlyubova]

Is it really necessary to have this link?

[kochigami]

Thank you very much for your comment.

Sorry, I haven't completed this pull-request yet...
When I complete it, I'll modify the lines you mentioned.

[jokla]

Hi @kochigami !
I would like to command Pepper with /cmd_vel in the gazebo world too.
Right now if I send a command in /cmd the robot doesn't behave as expected.

I am a bit lost with all the pull requests. Have you succeeded to make it work?

Thanks!

[kochigami]

Hi, @jokla

I'm very sorry for my late reply.
I think ros-simulation/gazebo_ros_pkgs#372 and this pull-request make /cmd_vel available.

I confirmed it in ubuntu 14.04 and ros indigo.

roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch
(on a terminal)
rostopic pub /cmd_vel geometry_msgs/Twist 
"linear:
      x: 0.1
      y: 0.0
      z: 0.0
    angular:
      x: 0.0
      y: 0.0
      z: 0.0" -1

I'd like to update this pull-request if I find a new way though. Sorry for that.

[nlyubova]

@kochigami should we merge it in this case?

[k-okada]

@kochigami @nlyubova IMO, this PR need unmerged PR (ros-simulation/gazebo_ros_pkgs#372), so better to wait for merge.

[kochigami]

@nlyubova
I'm very sorry for my late response. As @k-okada says, I think we have to wait.
To be honest, I'm not sure why this pull-request works, so I'm going to learn ros-simulation/gazebo_ros_pkgs#372 for the time being.