Only released in EOL distros:
Package Summary
The ric_gazebo package
- Maintainer: RoboTiCan <support AT robotican DOT net>
- Author: RoboTiCan <support AT robotican DOT net>
- License: BSD
- Source: git https://github.com/robotican/ric.git (branch: master)
Package Summary
The ric_gazebo package
- Maintainer status: maintained
- Maintainer: RoboTiCan <support AT robotican DOT net>
- Author: RoboTiCan <support AT robotican DOT net>
- License: BSD
- Source: git https://github.com/robotican/ric.git (branch: indigo-devel)
Contents
Preliminary Setup
First make sure you have the latest ric meta-package installed. See Installation Instructions on the ric page.
Then, install additional packages:
$ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control ros-indigo-hector-gazebo ros-indigo-ros-controllers
Launch
To launch the simulation with default parameters run the specific robot simulation launch file:
$ roslaunch ric_gazebo komodo_gazebo.launch
or:
$ roslaunch ric_gazebo lizi_gazebo.launch
or:
$ roslaunch ric_gazebo komodo_with_elev_gazebo.launch
To change the robot color, name, initial position and orientation and sensors edit the robot spawn block in the simulation launch file:
<include file="$(find ric_gazebo)/launch/spawn_lizi.launch"> <include file="$(find ric_gazebo)/launch/spawn_lizi.launch"> <arg name="name" value="lizi_1"/> <arg name="color" value='Green'/> <arg name="front_camera" value='false'/> <arg name="depth_camera" value='false'/> <arg name="laser_scanner" value='true'/> <arg name="urf" value='false'/> <arg name="imu" value='false'/> <arg name="pan_tilt" value='false'/> <arg name="x" value="0.0" /> <arg name="y" value="0.0" /> <arg name="z" value="0.1" /> <arg name="R" value="0.0" /> <arg name="P" value="0.0" /> <arg name="Y" value="0.0" /> </include> Here is and example of the Komodo robot launched with default settings:
To launch multiple robots in the same simulation add another block on the launch file as bellow:
<include file="$(find ric_gazebo)/launch/spawn_komodo.launch"> <arg name="name" value="komodo_1"/> <arg name="color" value="White"/> <arg name="x" value="0.0" /> <arg name="y" value="0.0" /> <arg name="z" value="0.1" /> <arg name="R" value="0.0" /> <arg name="P" value="0.0" /> <arg name="Y" value="0.0" /> </include> <include file="$(find ric_gazebo)/launch/spawn_komodo.launch"> <arg name="name" value="komodo_2"/> <arg name="color" value="Grey"/> <arg name="x" value="0.0" /> <arg name="y" value="1.0" /> <arg name="z" value="0.1" /> <arg name="R" value="0.0" /> <arg name="P" value="0.0" /> <arg name="Y" value="0.0" /> </include>
You can view the robots sensors using rviz:
Topics that are good to know (only komodo models)
Subscribers
komodo_<ID>/base_rotation_controller/command
- Function: Rotate the arm.
- Msg type: std_msgs/Float64
komodo_<ID>/shoulder_controller/command
- Function: Move the shoulder of the arm up and down.
- Msg type: std_msgs/Float64
komodo_<ID>/elbow1_controller/command
- Function: Move the first elbow of the arm left and right.
- Msg type: std_msgs/Float64
komodo_<ID>/elbow2_controller/command
- Function: Move the second elbow of the arm up and down.
- Msg type: std_msgs/Float64
komodo_<ID>/wrist_controller/command
- Function: Rotate the wrist left and right.
- Msg type: std_msgs/Float64
komodo_<ID>/right_finger_controller/command
- Function: move the right finger, left or right.
- Msg type: std_msgs/Float64
komodo_<ID>/left_finger_controller/command
- Function: move the left finger, left or right.
- Msg type: std_msgs/Float64
komodo_<ID>/diff_driver/command
- Function: steering the robot.
- Msg type: geometry_msgs/Twist
Subscribers that are only present in the komodo with elevator and arm
komodo_<ID>/elevator_controller/command
- Function: Move the komodo elevator up and down.
- Msg type: std_msgs/Float64
Publishers
komodo_<ID>/scan
- Function: Publish the laser scan.
- Msg type: sensor_msgs/LaserScan
komodo_<ID>/arm_camera/image_raw
- Function: Publish images from the arm camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/Front_Camera/image_raw
- Function: Publish images from the front camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/diff_driver/odometry
- Function: Publish the odometry of the robot.
- Msg type: nav_msgs/Odometry
Publishers that are only prasent in the komodo with elevator and arm
komodo_<ID>/Creative_Camera/rgb/image_raw
- Function: Publish images from the arm camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/Creative_Camera/depth/image_raw
- Function: Publish a depth images from the arm camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/Asus_Camera/rgb/image_raw
- Function: Publish images from the top asus camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/Asus_Camera/depth/image_raw
- Function: Publish a depth images from the asus camera
- Msg type: sensor_msgs/Image
komodo_<ID>/rear_camera/image_raw
- Function: Publish images from the rear camera.
- Msg type: sensor_msgs/Image
komodo_<ID>/top_camera/image_raw
- Function: Publish images from the top camera
- Msg type: sensor_msgs/Image
Moveit with ric_gazebo
Launch
To launch the komodo with arm model type this commend in a new terminal:
$ roslaunch komodo_2_moveit_config komodo_gazebo_moveit.launch
To launch the komodo with elevator and arm model type this commend in a new terminal:
$ roslaunch komodo_arm_moveit_config komodo_with_elev_gazebo_moveit.launch
Videos
Komodo with arm running moveit
Komodo with arm and elevator running moveit
Troubleshoot
If you see something like this after launching:
Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Warning [gazebo.cc:215] Waited 1seconds for namespaces. Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Try to upgrade to gazebo 2.2.5:
> sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main" > /etc/apt/sources.list.d/gazebo-latest.list' > wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
Then if you update Ubuntu, It install Gazebo 2.2.5.