Gazebo ROS Acrobat balancing robot

• Author: Oscar Lima olima@isr.tecnico.ulisboa.pt
• Co-Author: Daniel Marta daniellsmarta@gmail.com
• License: GNU General Public License, version 3 (GPL-3.0)

Test your learning algorithms with this balancing 1 link 1 joint robot.

It can also be used as an example on how to create a simple 1 joint robot with Gazebo and ros control.

It also contains an example of how to create a simple plugin to exert a force on the robot joint.

Acrobat robot with gazebo ROS control (position or velocity controller):

Run acrobat robot Gazebo simulation with ros control URDF:

roslaunch acrobat_gazebo acrobat_world.launch gui:=true robot_config:=acrobat_ros_control_gazebo

Acrobat robot Gazebo simulation with custom torque control gazebo plugin

roslaunch acrobat_gazebo acrobat_world.launch gui:=true robot_config:=acrobat_custom_gazebo_plugin

Publish desired joint effort on topic:

rostopic pub /acrobat/joint1/effort/command std_msgs/Float32 "data: 5.0"

Access acrobat joint states (position, velocity and effort)

rostopic echo /joint_states

Acrobat reward function based on euclidean distance

rostopic echo /tf_euclidean_distance_node/euclidean_distance

Credits: Partially based on the rrbot Gazebo tutorial, located under

https://github.com/ros-simulation/gazebo_ros_demos

IST Tecnico Lisboa, ISR: Oscar Lima Carrion, 2017 <olima@isr.tecnico.ulisboa.pt>