Gsoc amazon warehouse. Basic Robot

[arsalanakhter]

This is a pull request to get started contributing to JdeRobot.
It features a basic amazon warehouse-like robot, which can move on two wheels, and has a top platform consisting of a screw joint which rotates to pick up the rack above it.

Following are some screen shots:

[arsalanakhter]

When I run the roslaunch file roslaunch amazon-warehouse.launch, I am facing the following issue:

[Err] [Plugin.hh:165] Failed to load plugin libgazebo_ros_screw_plugin.so: libgazebo_ros_screw_plugin.so: cannot open shared object file: No such file or directory

The plugin is built when I build JdeRobot, but it seems it doesn't get installed. I am trying to figure out the issue, and would be thankful if anybody could help in this too.

[fqez]

Hi @arsalanakhter.

that file has to be in a path that Gazebo knows (typically GAZEBO_PLUGIN_PATH). Can you show the output of the next command:

echo $GAZEBO_PLUGIN_PATH

after installing the plugin and sourcing jderobot and ros?
If the path where that plugin is located does not appear in that env variable that error could raise.

Also, is this the final version of the PR? I'd like to test it myself so I can reproduce your error and try to help you find a solution if the above doesn't work.

Regards!

[arsalanakhter]

The output is:

/usr/lib/x86_64-linux-gnu/gazebo-7/plugins::/opt/jderobot/share/jderobot/gazebo/plugins/gymkhana:/opt/jderobot/share/jderobot/gazebo/plugins/dummycar:/opt/jderobot/share/jderobot/gazebo/plugins/quadrotor:/opt/jderobot/share/jderobot/gazebo/plugins/flyingKinect:/opt/jderobot/share/jderobot/gazebo/plugins/f1:/opt/jderobot/share/jderobot/gazebo/plugins/taxiholoLaser:/opt/jderobot/share/jderobot/gazebo/plugins/kinect:/opt/jderobot/share/jderobot/gazebo/plugins/roomba:/opt/jderobot/share/jderobot/gazebo/plugins/car:/opt/jderobot/share/jderobot/gazebo/plugins/holo_car:/opt/jderobot/share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin:/opt/jderobot/share/jderobot/gazebo/plugins/opel:/opt/jderobot/share/jderobot/gazebo/plugins/formula1:/opt/jderobot/share/jderobot/gazebo/plugins/turtlebot:/opt/jderobot/share/jderobot/gazebo/plugins/pioneer

It seems that the path is there (see 4th and 3rd last line of above output)

I added the following command to CMakeLists.txt

INSTALL (TARGETS gazebo_ros_screw_plugin vel DESTINATION share/jderobot/gazebo/plugins/gazebo_ros_screw_plugin/ COMPONENT gazebo)

And now it seems to work fine. I run the following commands to get it running:

cd /opt/jderobot/share/jderobot/launch
roslaunch amazon-warehouse.launch

In another terminal
rostopic pub -r 10 amazon_warehouse_robot/joint_cmd std_msgs/Float32 -- 500

Can you also have a look at the CMakeLists.txt if it is fine?

For now yes this is the final version of the PR.

[arsalanakhter]

We are closing this pull request. I'll start a new clean one.