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[pepper_gazebo_plugin] add base_footprint2 to use planar move plugin #31

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[pepper_gazebo_plugin] add base_footprint2 to use planar move plugin #31

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208fbc6
[pepper_gazebo_plugin] add base_footprint2 to use planar move plugin
kochigami Dec 1, 2016
1e8bed7
modify joint name
kochigami Dec 9, 2016
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35 changes: 25 additions & 10 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -2279,20 +2279,35 @@
</sensor>
</gazebo>
-->
<!-- <gazebo> -->
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Could you please remove this commented part?

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

<!-- <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller"> -->
<!-- <alwaysOn>true</alwaysOn> -->
<!-- <updateRate>100</updateRate> -->
<!-- <robotNamespace>/</robotNamespace> -->
<!-- <leftJoint>WheelFL</leftJoint> -->
<!-- <rightJoint>WheelFR</rightJoint> -->
<!-- <wheelSeparation>0.170</wheelSeparation> -->
<!-- <wheelDiameter>0.140</wheelDiameter> -->
<!-- <torque>36.9</torque> -->
<!-- <commandTopic>cmd_vel</commandTopic> -->
<!-- <odometryTopic>odom_diffdrive</odometryTopic> -->
<!-- <odometryFrame>odom</odometryFrame> -->
<!-- <robotBaseFrame>base_footprint</robotBaseFrame> -->
<!-- </plugin> -->
<!-- </gazebo> -->
<!-- Planar move plugin -->
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<robotNamespace>/</robotNamespace>
<leftJoint>WheelFL</leftJoint>
<rightJoint>WheelFR</rightJoint>
<wheelSeparation>0.170</wheelSeparation>
<wheelDiameter>0.140</wheelDiameter>
<torque>36.9</torque>
<plugin name="object_controller"
filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom_diffdrive</odometryTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
<recover_roll_velocity_p_gain>1</recover_roll_velocity_p_gain>
<recover_pitch_velocity_p_gain>1</recover_pitch_velocity_p_gain>
<recover_z_velocity_p_gain>1</recover_z_velocity_p_gain>
<joint_state_idel_sec>3.0</joint_state_idel_sec>
</plugin>
</gazebo>
<!-- HEAD -->
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38 changes: 27 additions & 11 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
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Expand Up @@ -684,20 +684,36 @@
</gazebo>
-->
<!-- Drive controller -->
<!-- <gazebo> -->
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Could you please remove this commented part?

<!-- <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"> -->
<!-- <alwaysOn>true</alwaysOn> -->
<!-- <updateRate>100</updateRate> -->
<!-- <robotNamespace>/</robotNamespace> -->
<!-- <leftJoint>WheelFL</leftJoint> -->
<!-- <rightJoint>WheelFR</rightJoint> -->
<!-- <wheelSeparation>0.170</wheelSeparation> -->
<!-- <wheelDiameter>0.140</wheelDiameter> -->
<!-- <torque>36.9</torque> -->
<!-- <commandTopic>cmd_vel</commandTopic> -->
<!-- <odometryTopic>odom_diffdrive</odometryTopic> -->
<!-- <odometryFrame>odom</odometryFrame> -->
<!-- <robotBaseFrame>base_footprint</robotBaseFrame> -->
<!-- </plugin> -->
<!-- </gazebo> -->

<!-- Planar move plugin -->
<gazebo>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<robotNamespace>/</robotNamespace>
<leftJoint>WheelFL</leftJoint>
<rightJoint>WheelFR</rightJoint>
<wheelSeparation>0.170</wheelSeparation>
<wheelDiameter>0.140</wheelDiameter>
<torque>36.9</torque>
<plugin name="object_controller"
filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom_diffdrive</odometryTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<odometryRate>20</odometryRate>
<robotBaseFrame>base_footprint2</robotBaseFrame>
<recover_roll_velocity_p_gain>1</recover_roll_velocity_p_gain>
<recover_pitch_velocity_p_gain>1</recover_pitch_velocity_p_gain>
<recover_z_velocity_p_gain>1</recover_z_velocity_p_gain>
<joint_state_idel_sec>3.0</joint_state_idel_sec>
</plugin>
</gazebo>
</robot>
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22 changes: 22 additions & 0 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,4 +18,26 @@
</inertial>
<xacro:insert_visu_torso/>
</link>
<link name="base_footprint2">
<visual>
<geometry>
<box size="0.01 0.01 0.01" />
</geometry>
</visual>
<collision>
<geometry>
<box size="1.2 1.2 0.01" />
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.0452761" ixy="0" ixz="0.00499091" iyy="0.0432702" iyz="-0.000266886" izz="0.0258881"/>
</inertial>
</link>
<joint name="base_footprint2_fixedjoint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint2"/>
<origin rpy="0 0 0" xyz="0 0 -0.8"/>
<axis xyz="0 0 0"/>
</joint>
</robot>