Added gazebo launch file #936

mayman99 · 2018-06-03T09:12:41Z

Description

Added a gazebo launch file template for the setup assistant.
For the ur10 robot it looks like that.

Checklist

Required: Code is auto formatted using clang-format
Extended the tutorials / documentation, if necessary reference
Include a screenshot if changing a GUI
Optional: Created tests, which fail without this PR reference
Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)

davetcoleman · 2018-06-08T00:53:32Z

Before we merge this can you create a new tutorial that explains how to launch this new file, complete with screenshots of the Franka Emika robot?

https://github.com/ros-planning/moveit_tutorials/

jrgnicho · 2018-06-08T14:45:41Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch

+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />
+
+  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/ros_controllers.launch"/>


Is the ros_controllers.launch file supposed to be generated automatically as well?

Yes, ros_controllers.launch can now be generated automatically by the setup assistant.

mayman99 · 2018-06-09T01:11:24Z

Yes, ros_controllers.launch is generated automatically by he setup assistant.

…

On Fri, 8 Jun 2018, 16:46 Jorge Nicho, ***@***.***> wrote: ***@***.**** commented on this pull request. ------------------------------ In moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch <#936 (comment)>: > +  + <include file="$(find gazebo_ros)/launch/empty_world.launch"> + <arg name="world_name" default="worlds/empty.world"/> + <arg name="paused" value="$(arg paused)"/> + <arg name="gui" value="$(arg gui)"/> + </include> + +  + <param unless="$(arg limited)" name="robot_description" [URDF_LOAD_ATTRIBUTE] /> + + <param if="$(arg limited)" name="robot_description" [URDF_LOAD_ATTRIBUTE] /> + +  + <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" /> + + <include file="$(find [GENERATED_PACKAGE_NAME])/launch/ros_controllers.launch"/> Is the *ros_controllers.launch* file supposed to be generated automatically as well? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#936 (review)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AJyVj1DLwWHDgm-cnKV3l2vhWf_uqk5Gks5t6o49gaJpZM4UYAex> .

mayman99 · 2018-06-09T01:11:49Z

Okay, sure.

…

On Fri, 8 Jun 2018, 02:53 Dave Coleman, ***@***.***> wrote: Before we merge this can you create a new tutorial that explains how to launch this new file, complete with screenshots of the Franka Emika robot? https://github.com/ros-planning/moveit_tutorials/ — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#936 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AJyVjy6VPfW9OnqjHc9TI8NAQT68ftlYks5t6csOgaJpZM4UYAex> .

davetcoleman · 2018-06-15T06:36:42Z

moveit_setup_assistant/src/widgets/configuration_files_widget.cpp

+  file.file_name_ = "gazebo.launch";
+  file.rel_path_ = config_data_->appendPaths(launch_path, file.file_name_);
+  template_path = config_data_->appendPaths(template_launch_path, "gazebo.launch");
+  file.description_ = "gazebo launch file";


Please capitalize this description and explain in a sentence what it does, see the other examples in this file.

Also apply the same change to the ros_controllers.launch you added

davetcoleman · 2018-06-15T06:37:44Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="limited" default="false"/>


can you add a comment here about what limited does?

This sounds a lot like the limited arg that some of the universal_robot launch files have/use.

I don't believe it should be part of a template file introduced by this contribution.

I did remove it as @gavanderhoorn suggestion makes sense.

davetcoleman · 2018-06-15T06:38:32Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch

+  <!-- send robot urdf to param server -->
+  <param unless="$(arg limited)" name="robot_description" [URDF_LOAD_ATTRIBUTE] />
+
+  <param if="$(arg limited)" name="robot_description" [URDF_LOAD_ATTRIBUTE] />


these two lines do the exact same thing, so the limited variable should be removed or the URDF_LOAD_ATTRIBUTE should change for some reason

davetcoleman · 2018-06-15T06:39:34Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch

+  <param if="$(arg limited)" name="robot_description" [URDF_LOAD_ATTRIBUTE] />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />


please break this line into two (line too long - max is 120)

Thanks for the review, will fix the changes.

Btw I got to get franka to be spawned in gazebo, but I had to do some changes to the urdf file first. What would you recommend, do we make the changes that makes a urdf model gazebo combitable a part of this PR? Or do we better make it a separate one and make this one just for the launch file?

please move this discussion to the main issue or the gdoc, it does not belong inline with a PR code review :-)

mayman99 · 2018-06-15T08:17:02Z

@davetcoleman
Thanks for the review, will fix the changes.

Btw I got to get franka to be spawned in gazebo, but I had to do some changes to the urdf file first. What would you recommend, do we make the changes that makes a urdf model gazebo combitable a part of this PR? Or do we better make it a separate one and make this one just for the launch file?

mayman99 · 2018-07-03T22:18:28Z

As @davetcoleman and @gavanderhoorn suggested,

gazebo.launch is no longer automatically generated, the simulation screen should be responsible to trigger its generation through a checkbox.

davetcoleman · 2018-07-10T18:46:45Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/gazebo.launch

+  <param name="robot_description" [URDF_LOAD_ATTRIBUTE] />
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />


do you understand why -z 0.1 is used?

i believe this may be a custom value for a particular robot that is not very generic. please add a comment in this launch file explaining the purpose of z (changing the start location of the robot). i think it should default to 0

Yes that is right, 0 as default makes better sense, thanks.

Changed it, now robot spawn at the origin.

Actually can you leave the -z option there but set it to zero and document its usage?

If we leave the z, shouldnt we also leave the -x and -y?

great idea!

davetcoleman · 2018-08-05T19:24:25Z

@mlautman please review

davetcoleman · 2018-08-09T17:55:59Z

Cherry-picked to melodic

mayman99 mentioned this pull request Jun 4, 2018

Controllers Widget #933

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jrgnicho reviewed Jun 8, 2018

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mayman99 mentioned this pull request Jun 13, 2018

Read and write ROS controllers yaml file #951

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davetcoleman requested changes Jun 15, 2018

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mayman99 mentioned this pull request Jun 20, 2018

Simulation Screen for the SA #956

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mayman99 force-pushed the gazebo_config branch from cfb4a63 to 7a8a716 Compare July 3, 2018 22:14

mayman99 mentioned this pull request Jul 9, 2018

Setup Assistant 2 #894

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davetcoleman reviewed Jul 10, 2018

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mayman99 force-pushed the gazebo_config branch from 7a8a716 to 2a73403 Compare July 12, 2018 06:21

Added Gazebo launch file

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mayman99 force-pushed the gazebo_config branch from 2a73403 to 688fdad Compare July 23, 2018 09:17

davetcoleman approved these changes Jul 30, 2018

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mlautman approved these changes Aug 6, 2018

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davetcoleman approved these changes Aug 9, 2018

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davetcoleman merged commit a08d75c into moveit:kinetic-devel Aug 9, 2018

davetcoleman pushed a commit that referenced this pull request Aug 9, 2018

Added Gazebo launch file (#936)

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mayman99 added a commit to mayman99/moveit that referenced this pull request Aug 25, 2018

Added Gazebo launch file (moveit#936)

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pull bot pushed a commit to shadow-robot/moveit that referenced this pull request Sep 3, 2020

Added Gazebo launch file (moveit#936)

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Added gazebo launch file #936

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mayman99 commented Jun 3, 2018

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davetcoleman commented Aug 5, 2018

davetcoleman commented Aug 9, 2018

Added gazebo launch file #936

Added gazebo launch file #936

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mayman99 commented Jun 3, 2018

Description

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davetcoleman commented Jun 8, 2018

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mayman99 commented Jun 9, 2018 via email

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mayman99 commented Jun 15, 2018

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davetcoleman commented Aug 5, 2018

davetcoleman commented Aug 9, 2018