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olivier-stasseolivier-stasse
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[odri_bolt_description] Update name of the odri namespace
[odri_bolt_gz] Simulation
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8 files changed

+1372
-6
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8 files changed

+1372
-6
lines changed

Diff for: ‎odri_bolt_description/gazebo/bolt.gazebo.xacro

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@@ -11,7 +11,7 @@ on/urdf/rrbot.gazebo
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</gazebo>
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system">
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<plugin name="odri_gz_ros2_control::GazeboOdriSimROS2ControlPlugin" filename="odri_gz_ros2_control-system">
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<parameters>$(find odri_bolt_gz)/config/odri_bolt_controllers.yaml</parameters>
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<controller_manager_node_name>${prefix}controller_manager</controller_manager_node_name>
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</plugin>

Diff for: ‎odri_bolt_description/ros2_control/system_bolt.ros2_control.xacro

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@@ -7,7 +7,7 @@
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<xacro:if value="$(arg use_gazebo_sim)">
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<hardware>
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<plugin>gz_ros2_control/GazeboOdriSimSystem</plugin>
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<plugin>odri_gz_ros2_control/GazeboOdriSimSystem</plugin>
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<param name="default_kp">1000.0</param>
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<param name="default_kd">10.0</param>
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</hardware>

Diff for: ‎odri_bolt_description/urdf/crane.urdf.xacro

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@@ -47,7 +47,7 @@
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<link name="world"/>
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<joint name="fixed" type="fixed">
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<origin xyz="0.0 0.0 0.2" rpy="0.0 0.0 0.0"/>
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<origin xyz="0.0 0.0 0.6" rpy="0.0 0.0 0.0"/>
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<parent link="world"/>
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<child link="crane_link"/>
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</joint>

Diff for: ‎odri_bolt_gz/CMakeLists.txt

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@@ -7,7 +7,7 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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endforeach()
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install(
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DIRECTORY launch config
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DIRECTORY launch config world
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DESTINATION share/${PROJECT_NAME}
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)
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Diff for: ‎odri_bolt_gz/config/view_bolt.config

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Diff for: ‎odri_bolt_gz/launch/bolt_gazebo_sim.launch.py

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@@ -12,6 +12,9 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_index_python.packages import get_package_share_directory
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import os.path
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.conditions import IfCondition
@@ -61,11 +64,21 @@ def generate_launch_description():
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)
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# Start Gazebo
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pth_odri_bgz_world = os.path.join(get_package_share_directory('odri_bolt_gz'),
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'world',
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'CloseView.sdf')
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pth_odri_bgz_user_cfg = os.path.join(get_package_share_directory('odri_bolt_gz'),
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'config',
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'view_bolt.config')
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[PathJoinSubstitution([FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"])]
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),
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launch_arguments=[("gz_args", [" -r -v 4 empty.sdf"])],
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launch_arguments=[("gz_args", [" -r -v 4 " + pth_odri_bgz_world
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+ " --gui-config "
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+ pth_odri_bgz_user_cfg])],
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)
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spawn_entity = Node(

Diff for: ‎odri_bolt_gz/package.xml

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@@ -15,7 +15,7 @@
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>gazebo_ros</exec_depend>
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<exec_depend>gz_ros2_control_odri</exec_depend>
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<exec_depend>odri_gz_ros2_control</exec_depend>
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<exec_depend>odri_bolt_description</exec_depend>
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<export>

Diff for: ‎odri_bolt_gz/world/CloseView.sdf

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@@ -0,0 +1,89 @@
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<sdf version='1.9'>
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<world name='empty'>
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<physics name='1ms' type='ignored'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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</physics>
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<plugin name='gz::sim::systems::Physics' filename='ignition-gazebo-physics-system'/>
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<plugin name='gz::sim::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
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<plugin name='gz::sim::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
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<plugin name='gz::sim::systems::Contact' filename='ignition-gazebo-contact-system'/>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type='adiabatic'/>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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</scene>
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<model name='ground_plane'>
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<static>true</static>
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<link name='link'>
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<collision name='collision'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode/>
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</friction>
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<bounce/>
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<contact/>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<enable_wind>false</enable_wind>
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</link>
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<pose>0 0 0 0 -0 0</pose>
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<self_collide>false</self_collide>
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</model>
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<light name='sun' type='directional'>
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<pose>0 0 10 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>-0.5 0.1 -0.9</direction>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<linear>0.01</linear>
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<constant>0.90000000000000002</constant>
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<quadratic>0.001</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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</world>
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</sdf>

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