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ROS 2 Migration: Planar Move

Shivesh Khaitan edited this page Jul 17, 2019 · 1 revision

Overview

This pages describes the changes in the planar move plugin in gazebo_plugins for ROS 2, including a migration guide.

Summary

  • All SDF parameters are now snake_cased
  • Use remapping argument to change default topics (cmd_vel and odom)
  • Odometry is directly acquired from Gazebo's ground truth
  • Functionality of publishing world-to-odom TF has been added
  • Apart from odom publish rate, the control loop rate can also be adjusted using <update_rate>
  • Publishing of odom and odom TF is optional. Can be controlled using <publish_odom> and <publish_odom_tf> respectively.
  • Co-variance of odom message can be set using <covariance_x>, <covariance_y> and <covariance_yaw>

SDF parameters

ROS 1 ROS 2
odometryFrame odometry_frame
odometryRate publish_rate
commandTopic <ros><argument>cmd_vel:=custom_cmd_vel</argument></ros>
odometryTopic <ros><argument>odom:=custom_odom</argument></ros>
odometryFrame odometry_frame
robotBaseFrame robot_base_frame
robotNamespace :x:

Example Migration

ROS1

    <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
      <!-- Add a namespace -->
      <robotNamespace>demo</robotNamespace>

      <!-- Change the default topic -->
      <commandTopic>custom_cmd_vel</commandTopic>
      <odometryTopic>custom_odom</odometryTopic>

      <!-- Set odom publish rate -->
      <odometryRate>20.0</odometryRate>

      <!-- Frame IDs -->
      <odometryFrame>odom_demo</odometryFrame>
      <robotBaseFrame>base_footprint</robotBaseFrame>
    </plugin>

ROS2

    <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">

      <ros>

        <!-- Add a namespace -->
        <namespace>/demo</namespace>

        <!-- Remap the default topic -->
        <argument>cmd_vel:=custom_cmd_vel</argument>
        <argument>odom:=custom_odom</argument>

      </ros>

      <!-- Set control loop update rate -->
      <update_rate>100</update_rate>
      <!-- Set odom publish rate -->
      <publish_rate>10</publish_rate>

      <!-- Set if odom required -->
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>

      <!-- Frame IDs -->
      <odometry_frame>odom_demo</odometry_frame>
      <robot_base_frame>link</robot_base_frame>

      <!-- Set odom covariance -->
      <covariance_x>0.0001</covariance_x>
      <covariance_y>0.0001</covariance_y>
      <covariance_yaw>0.01</covariance_yaw>

    </plugin>
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