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The moveit_setup_simulation package is currently ignored, and does not compile.
In ROS 1, this step would attempt to modify your original URDF file to add the needed attributes for simulation and write it to config/gazebo_[ROBOT_NAME].urdf if the original location could not be modified. It would generate
config/gazebo_controllers.yaml - Configuration of Gazebo controllers
launch/gazebo.launch - Gazebo launch file which also launches ros_controllers and sends robot urdf to param server, then using gazebo_ros pkg the robot is spawned to Gazebo
launch/demo_gazebo.launch - Run a demo of MoveIt with Gazebo and Rviz
config/gazebo_[ROBOT_NAME].urdf (sometimes)
The edits made to the urdf include:
Adding <inertial> tags to <collision> elements of <link> elements.
Adding <transmission> tags for each <joint> element.
Adding the <gazebo> tag (globally) and specifying <plugin> elements inside.
Which of these steps need to be done for ROS 2 Ignition Gazebo? Is it within the scope of this repo? Could it just be made into its own Setup Assistant using this framework?
The text was updated successfully, but these errors were encountered:
@ahcorde@chapulina Can you help us define what is needed in a URDF for simulation? Assuming it already has ros2_control tags, it looks like we need to replace the gazebo_ros_control plugin with libign_ros2_control-system.so. I'm guessing we don't need transmissions anymore?
The
moveit_setup_simulation
package is currently ignored, and does not compile.In ROS 1, this step would attempt to modify your original URDF file to add the needed attributes for simulation and write it to
config/gazebo_[ROBOT_NAME].urdf
if the original location could not be modified. It would generateconfig/gazebo_controllers.yaml
- Configuration of Gazebo controllerslaunch/gazebo.launch
- Gazebo launch file which also launches ros_controllers and sends robot urdf to param server, then using gazebo_ros pkg the robot is spawned to Gazebolaunch/demo_gazebo.launch
- Run a demo of MoveIt with Gazebo and Rvizconfig/gazebo_[ROBOT_NAME].urdf
(sometimes)The edits made to the urdf include:
<inertial>
tags to<collision>
elements of<link>
elements.<transmission>
tags for each<joint>
element.<gazebo>
tag (globally) and specifying<plugin>
elements inside.Which of these steps need to be done for ROS 2
IgnitionGazebo? Is it within the scope of this repo? Could it just be made into its own Setup Assistant using this framework?The text was updated successfully, but these errors were encountered: