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README.rst

romeo_gazebo_plugin

Package developed against ROS Indigo and default gazebo (gazebo 2.2.3)

Dependencies

The package requires Gazebo and robot-specific packages, such as romeo_description and romeo_control

sudo apt-get install ros-indigo-romeo-description ros-indigo-romeo-control

Other plugins to fetch and compile:

git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
catkin_make

Please also make sure that the package and all the dependencies are up to date

sudo apt-get update
sudo apt-get install ros-indigo-romeo-gazebo-plugin

How to run it

roslaunch romeo_gazebo_plugin romeo_gazebo_plugin_H37.launch

This will spawn gazebo with Romeo on a robocup field. The ball has the same specs as the official RoboCup ball (size and mass).

The simulation will be in pause mode to allow initialization of all the controllers. Wait until eveything is successfully loaded:

[INFO] [WallTime: 1413899465.061789] [0.000000] Controller Spawner: Loaded controllers: /romeo_dcm/Head_controller, /romeo_dcm/RightArm_controller, /romeo_dcm/LeftArm_controller, /romeo_dcm/LeftLeg_controller, /romeo_dcm/RightLeg_controller, /romeo_dcm/RightHand_controller, /romeo_dcm/LeftHand_controller, /romeo_dcm/joint_state_controller

Click the Play button.

Your Romeo should be standing in front of the ball at the center of the field.

Get sensor data from gazebo

All the sensors are simulated using plugins. These plugins are included in the robot description via romeoGazebo.xacro file. Each sensor publish data on rostopics.

We can visualize topics using Ctrl+T or Window/Topic Visualization

images/TopicVisu.png

For example, visualizing Cameras and sonar

images/GazeboCamSonar.png

We can also visualize these messages using Rviz plugins

images/MoveitCamSonar.png

How to interact with simulated robot

Using MoveIt!:

To control your simulated robot using MoveIt, run:

roslaunch romeo_moveit_config moveit_planner.launch

Then you can control the robot with MoveIt!, check the tutorial quick tutorial here https://github.com/ros-aldebaran/romeo_moveit_config/blob/master/README.rst

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