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Add Gazebo package #223

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merged 17 commits into from Jan 27, 2016
Merged

Add Gazebo package #223

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e530577
Add Gazebo package. So far model not shown, and model seems to keep f…
130s Nov 18, 2015
afc801b
[gazebo] Add non-zero mass so that links are not ignored
130s Jan 7, 2016
7f14de2
HEAD_JOINT1_Link is too small, use default settings http://wiki.ros.o…
k-okada Jan 21, 2016
f1302e4
set depend from nextage_description to nextage_gazebo is not a good i…
k-okada Jan 21, 2016
79fb743
NextageOpen.urdf: add transmission and ros_control
k-okada Jan 21, 2016
fcd10bc
package.xml: add depends to ros_controllers
k-okada Jan 21, 2016
715bbf2
use NextageOpen name space, use robot name. Not sure if this is neces…
k-okada Jan 21, 2016
8f08d7f
http://answers.ros.org/question/200777/using-both-jointtrajectorycont…
k-okada Jan 21, 2016
03dda16
update control parameters
k-okada Jan 21, 2016
a2490c8
Merge pull request #6 from k-okada/gz
130s Jan 22, 2016
f0586d5
[gazebo] Add non-zero mass so that links are not ignored
130s Jan 7, 2016
acb5957
[gz] Minor formatting
130s Jan 26, 2016
9c078e0
[gz] Add small unit tests
130s Jan 26, 2016
67bd9e0
[gz] Retry tests upon failure
130s Jan 26, 2016
5bbf5f5
pass arg GUI
k-okada Jan 27, 2016
39c0855
need to wait for finishing go_initial.py (https://github.com/tork-a/r…
k-okada Jan 27, 2016
bc82ba5
Merge pull request #7 from k-okada/gz
130s Jan 27, 2016
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84 changes: 79 additions & 5 deletions nextage_description/urdf/NextageOpen.urdf
View file
Open in desktop
Expand Up @@ -11,7 +11,37 @@
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find nextage_description)/urdf/materials.urdf.xacro" />

<xacro:macro name="gazebo_nx_link" params="name color">
<gazebo reference="gazebo_${name}">
<material>Gazebo/${color}</material>
</gazebo>
</xacro:macro>

<xacro:macro name="transmission_nx_joint" params="name">
<transmission name="${name}_Trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_Motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>

<!-- Used for fixing robot to Gazebo 'base_link' -->
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="WAIST"/>
</joint>

<xacro:gazebo_nx_link name="WAIST" color="Black" />
<link name="WAIST">
<visual>
<origin xyz="0 0 0.97" rpy="0 -0 0"/>
Expand All @@ -26,11 +56,13 @@
</geometry>
</collision>
<inertial>
<mass value="0" />
<mass value="30.0" />
<origin xyz="0 0 0" rpy="0 -0 0"/>
<inertia ixx="0.0347318" ixy="5.78001e-06" ixz="-3.34135e-05" iyy="0.0347482" iyz="6.35727e-07" izz="0.00438238"/>
</inertial>
</link>

<xacro:gazebo_nx_link name="CHEST_JOINT0_Link" color="Black" />
<link name="CHEST_JOINT0_Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand All @@ -45,11 +77,13 @@
</geometry>
</collision>
<inertial>
<mass value="0" />
<mass value="3.0" />
<origin xyz="0 0 0" rpy="0 -0 0"/>
<inertia ixx="0.0639575" ixy="-0.00022833" ixz="0.00011172" iyy="0.0310845" iyz="6.48e-05" izz="0.0501107"/>
</inertial>
</link>

<xacro:gazebo_nx_link name="HEAD_JOINT0_Link" color="Black" />
<link name="HEAD_JOINT0_Link">
<visual>
<origin xyz="0 0 0.5695" rpy="0 -0 0"/>
Expand All @@ -69,6 +103,8 @@
<inertia ixx="0.00027682" ixy="3e-08" ixz="-3.3e-07" iyy="0.00013009" iyz="-1.092e-05" izz="0.00020954"/>
</inertial>
</link>

<xacro:gazebo_nx_link name="HEAD_JOINT1_Link" color="Black" />
<link name="HEAD_JOINT1_Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand All @@ -84,10 +120,13 @@
</collision>
<inertial>
<mass value="0.0808593" />
<origin xyz="5.02e-06 -0.0166777 0.0163153" rpy="0 -0 0"/>
<inertia ixx="8.07e-05" ixy="-3e-08" ixz="-4.30134e-22" iyy="3.025e-05" iyz="-1.277e-05" izz="6.637e-05"/>
<!-- <origin xyz="5.02e-06 -0.0166777 0.0163153" rpy="0 -0 0"/> -->
<!-- <inertia ixx="8.07e-05" ixy="-3e-08" ixz="-4.30134e-22" iyy="3.025e-05" iyz="-1.277e-05" izz="6.637e-05"/> -->
<inertia ixx="1e-3" ixy="0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
</inertial>
</link>

<xacro:gazebo_nx_link name="LARM_JOINT0_Link" color="Black" />
<link name="LARM_JOINT0_Link">
<visual>
<origin xyz="0 0.145 0.370296" rpy="-0.261799 0 0"/>
Expand All @@ -107,6 +146,7 @@
<inertia ixx="0.00207537" ixy="0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="-4.57e-05" izz="0.00141912"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="LARM_JOINT1_Link" color="Black" />
<link name="LARM_JOINT1_Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand All @@ -126,6 +166,7 @@
<inertia ixx="0.0154168" ixy="9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="0.00213719" izz="0.0012658"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="LARM_JOINT2_Link" color="Black" />
<link name="LARM_JOINT2_Link">
<visual>
<origin xyz="0 0.095 -0.25" rpy="0 -0 0"/>
Expand All @@ -145,6 +186,7 @@
<inertia ixx="0.00143966" ixy="-3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="-7.596e-05" izz="0.0001972"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="LARM_JOINT3_Link" color="Black" />
<link name="LARM_JOINT3_Link">
<visual>
<origin xyz="-0.03 0 0" rpy="0 -0 0"/>
Expand All @@ -164,6 +206,7 @@
<inertia ixx="0.00069205" ixy="3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="-1.915e-05" izz="0.00013509"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="LARM_JOINT4_Link" color="Black" />
<link name="LARM_JOINT4_Link">
<visual>
<origin xyz="0 0 -0.235" rpy="0 -0 0"/>
Expand All @@ -183,6 +226,7 @@
<inertia ixx="0.00052016" ixy="1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="-5.377e-05" izz="0.00014004"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="LARM_JOINT5_Link" color="Black" />
<link name="LARM_JOINT5_Link">
<visual>
<origin xyz="-0.047 0 -0.09" rpy="0 -0 0"/>
Expand All @@ -202,6 +246,7 @@
<inertia ixx="0.00194072" ixy="1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="1.2e-07" izz="0.00035788"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT0_Link" color="Black" />
<link name="RARM_JOINT0_Link">
<visual>
<origin xyz="0 -0.145 0.370296" rpy="0.261799 -0 0"/>
Expand All @@ -221,6 +266,7 @@
<inertia ixx="0.00207537" ixy="-0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="4.57e-05" izz="0.00141912"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT1_Link" color="Black" />
<link name="RARM_JOINT1_Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
Expand All @@ -240,6 +286,7 @@
<inertia ixx="0.0154168" ixy="-9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="-0.00213719" izz="0.0012658"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT2_Link" color="Black" />
<link name="RARM_JOINT2_Link">
<visual>
<origin xyz="0 -0.095 -0.25" rpy="0 -0 0"/>
Expand All @@ -259,6 +306,7 @@
<inertia ixx="0.00143966" ixy="3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="7.596e-05" izz="0.0001972"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT4_Link" color="Black" />
<link name="RARM_JOINT3_Link">
<visual>
<origin xyz="-0.03 0 0" rpy="0 -0 0"/>
Expand All @@ -278,6 +326,7 @@
<inertia ixx="0.00069205" ixy="-3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="1.915e-05" izz="0.00013509"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT4_Link" color="Black" />
<link name="RARM_JOINT4_Link">
<visual>
<origin xyz="0 0 -0.235" rpy="0 -0 0"/>
Expand All @@ -297,6 +346,7 @@
<inertia ixx="0.00052016" ixy="-1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="5.377e-05" izz="0.00014004"/>
</inertial>
</link>
<xacro:gazebo_nx_link name="RARM_JOINT5_Link" color="Black" />
<link name="RARM_JOINT5_Link">
<visual>
<origin xyz="-0.047 0 -0.09" rpy="0 -0 0"/>
Expand All @@ -316,6 +366,7 @@
<inertia ixx="0.00194072" ixy="-1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="-1.2e-07" izz="0.00035788"/>
</inertial>
</link>
<xacro:transmission_nx_joint name="CHEST_JOINT0" />
<joint name="CHEST_JOINT0" type="revolute">
<parent link="WAIST"/>
<child link="CHEST_JOINT0_Link"/>
Expand All @@ -324,6 +375,7 @@
<limit lower="-2.84489" upper="2.84489" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="HEAD_JOINT0" />
<joint name="HEAD_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="HEAD_JOINT0_Link"/>
Expand All @@ -332,6 +384,7 @@
<limit lower="-1.22173" upper="1.22173" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="HEAD_JOINT1" />
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_JOINT0_Link"/>
<child link="HEAD_JOINT1_Link"/>
Expand All @@ -340,6 +393,7 @@
<limit lower="-0.349066" upper="1.22173" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT0" />
<joint name="LARM_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="LARM_JOINT0_Link"/>
Expand All @@ -348,6 +402,7 @@
<limit lower="-1.53589" upper="1.53589" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT1" />
<joint name="LARM_JOINT1" type="revolute">
<parent link="LARM_JOINT0_Link"/>
<child link="LARM_JOINT1_Link"/>
Expand All @@ -356,6 +411,7 @@
<limit lower="-2.44346" upper="1.0472" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT2" />
<joint name="LARM_JOINT2" type="revolute">
<parent link="LARM_JOINT1_Link"/>
<child link="LARM_JOINT2_Link"/>
Expand All @@ -364,6 +420,7 @@
<limit lower="-2.75762" upper="0" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT3" />
<joint name="LARM_JOINT3" type="revolute">
<parent link="LARM_JOINT2_Link"/>
<child link="LARM_JOINT3_Link"/>
Expand All @@ -372,6 +429,7 @@
<limit lower="-1.8326" upper="2.87979" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT4" />
<joint name="LARM_JOINT4" type="revolute">
<parent link="LARM_JOINT3_Link"/>
<child link="LARM_JOINT4_Link"/>
Expand All @@ -380,6 +438,7 @@
<limit lower="-1.74533" upper="1.74533" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="LARM_JOINT5" />
<joint name="LARM_JOINT5" type="revolute">
<parent link="LARM_JOINT4_Link"/>
<child link="LARM_JOINT5_Link"/>
Expand All @@ -388,6 +447,7 @@
<limit lower="-2.84489" upper="2.84489" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT0" />
<joint name="RARM_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="RARM_JOINT0_Link"/>
Expand All @@ -396,6 +456,7 @@
<limit lower="-1.53589" upper="1.53589" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT1" />
<joint name="RARM_JOINT1" type="revolute">
<parent link="RARM_JOINT0_Link"/>
<child link="RARM_JOINT1_Link"/>
Expand All @@ -404,6 +465,7 @@
<limit lower="-2.44346" upper="1.0472" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT2" />
<joint name="RARM_JOINT2" type="revolute">
<parent link="RARM_JOINT1_Link"/>
<child link="RARM_JOINT2_Link"/>
Expand All @@ -412,6 +474,7 @@
<limit lower="-2.75762" upper="0" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT3" />
<joint name="RARM_JOINT3" type="revolute">
<parent link="RARM_JOINT2_Link"/>
<child link="RARM_JOINT3_Link"/>
Expand All @@ -420,6 +483,7 @@
<limit lower="-2.87979" upper="1.8326" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT4" />
<joint name="RARM_JOINT4" type="revolute">
<parent link="RARM_JOINT3_Link"/>
<child link="RARM_JOINT4_Link"/>
Expand All @@ -428,6 +492,7 @@
<limit lower="-1.74533" upper="1.74533" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>
<xacro:transmission_nx_joint name="RARM_JOINT5" />
<joint name="RARM_JOINT5" type="revolute">
<parent link="RARM_JOINT4_Link"/>
<child link="RARM_JOINT5_Link"/>
Expand All @@ -436,4 +501,13 @@
<limit lower="-2.84489" upper="2.84489" effort="100" velocity="0.5" />
<dynamics damping="0.2" friction="0" />
</joint>

<!-- Gazebo plugin for ROS Control -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/NextageOpen</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>

</robot>
36 changes: 36 additions & 0 deletions nextage_description/urdf/materials.urdf.xacro
View file
Open in desktop
@@ -0,0 +1,36 @@
<?xml version="1.0"?>
<robot>

<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>

<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>

<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>

<material name="LightGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>

<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>

<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>

<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>

<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>

</robot>