rtmros_gazebo

gazebo simulation for rtmros robots

Install

Please refer rtmros_common for installing these packages.

Try Sample

Open Terminal and run gazebo

roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch  # kinetic and above
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers_indigo.launch  # indigo

Launch another terminal and start hrpsys-base

rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch  # kinetic and above
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup_indigo.launch  # indigo

Launch another terminal and send command to robot by roseus

roscd hrpsys_ros_bridge/euslisp/
roseus samplerobot-interface.l
(samplerobot-init)
(setq *robot* (instance samplerobot-robot :init))
(send *ri* :angle-vector (send *robot* :reset-pose) 5000)
(send *ri* :start-auto-balancer)
(send *ri* :start-st)
(send *ri* :go-pos 0 0 0)

Package Description

hrpsys_gazebo_general

This package consists iob.cpp which is low-level interface of RobotHardware on hrpsys and IOBPlugin.cpp which is gazebo plugin to comunicate with iob.cpp.

Environment variables used in iob.cpp

• HRPSYS_GAZEBO_IOB_NAME
  • ROS node name of hrpsys(RobotHardware) node. (default: "hrpsys_gazebo_iob")
• HRPSYS_GAZEBO_CONFIGURATION
  • ROS namespace of configuration parameters. (default: "hrpsys_gazebo_configuration")
• HRPSYS_GAZEBO_ROBOTNAME
  • Robot Name
• HRPSYS_GAZEBO_IOB_SYNCHRONIZED
  • Synchronized mode between hrpsys step and gazebo step. (default: false)
• HRPSYS_GAZEBO_IOB_SUBSTEPS
  • Number of substeps. Controlling command will be sent in every substeps. (default: 1)

Setting of <robot_name>.yaml files

This is yaml file for configuring gazebo setting.

# top level name space()
hrpsys_gazebo_configuration:
# velocity feedback for joint control, use parameter gains/joint_name/p_v
  use_velocity_feedback: true
# synchronized hrpsys and gazebo
  use_synchronized_command: false
# name of robot (using for namespace)
  robotname: SampleRobot
# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
  joint_id_list: [0, ... , 28]
# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
  joints:
    - RLEG_HIP_R
    - CHEST
# joint gain settings
# Torque feedback mode
# effort := p * error + d * d/dt error + i * sigma (error) + vp * velocity_error
#   error := reference_position - current_position
#   velocity_error := reference_velocity - current_velocity
# Velociy feedback mode
# desired_velocity := p_v * error + reference_velocity
  gains:
    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
    RARM_WRIST_R:    {p:    20.0, d:  0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
# force sensor settings
#   list of force sensorname
  force_torque_sensors:
    - lfsensor
    - rfsensor
# configuration of force sensor
#   key of force_torque_sensors_config should be a member of force_torque_sensors
  force_torque_sensors_config:
    lfsensor: {joint_name: 'JOINT_NAME0', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
    rfsensor: {joint_name: 'JOINT_NAME1', frame_id: 'LINK_NAME0', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
# IMU sensor settings
# configuration of IMU sensor
#   key of imu_sensors_config should be a member of imu_sensors
# pose of imu_sensor relative to parent link should be specified in URDF.
  imu_sensors:
    - imu_sensor0
  imu_sensors_config:
    imu_sensor0: {ros_name: 'ros_imu_sensor', link_name: 'LINK_NAME0', frame_id: 'LINK_NAME0'}

Custom Plugins

CranePlugin

This plugin provides fake "Crane" in gazebo environment.

To use this plugin, add the following lines to your URDF.

<gazebo>
  <plugin filename="libCranePlugin.so" name="crane_plugin">
    <linkname>CHEST_LINK1</linkname>  <!-- The name of the link where the crane is attached -->
    <liftheight>1.2</liftheight>  <!-- Crane hanging height [m] -->
    <lowerheight>0.5</lowerheight>  <!-- Crane will be disabled below this height [m] -->
    <liftvelocity>0.1</liftvelocity>  <!-- [m/s] -->
    <lowervelocity>0.03</lowervelocity>  <!-- [m/s] -->
    <pgain>2500</pgain>  <!-- P gain for Z-axis error -->
    <dgain>500</dgain>  <!-- D gain for Z-axis error -->
    <damp>10000</damp>  <!-- Damping factor for other axes and rotation -->
  </plugin>
</gazebo>

Subscribed topics

• [objname]/CranePlugin/LowerCommand (std_msgs::Empty)

Lower the crane to the ground.

• [objname]/CranePlugin/LiftCommand (std_msgs::Empty)

Lift the crane to the lift height.

• [objname]/CranePlugin/PoseCommand (geometry_msgs::Pose)

Place the robot to the pose.