sas_robot_driver_gazebo Directory Reference

Directories
	launch
	sas_robot_driver_gazebo
	scripts
	src

Detailed Description

sas_robot_driver_gazebo

Remarks

Repository for this module: https://github.com/MarinhoLab/sas_robot_driver_gazebo
More information about SmartArmStack is available in https://smartarmstack.github.io/.

Licenses

Check any licenses in repositories in vendor if you decide to use them. This repository's owner holds no liability for misuse.

Folder structure

The two folders below have special meanings, the others follow usual naming.

Folder	Meaning
sdf	Base Gazebo scene files.
vendor	Vendor models. Check the licenses if you decide to use them in your work. They are not shared in this repo

Technical Overview

Each relevant joint to be controlled should have a plugin specification similar to the following, using gz::sim::systems::JointPositionController.

Joint Position Control

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
    <joint_name>shoulder_pan_joint</joint_name>
    <use_velocity_commands>True</use_velocity_commands>
    <cmd_max>0.25</cmd_max>
</plugin>

Joint State Reading

Joints are read from a default gz::sim::systems::JointStatePublisher.

<plugin
    filename="gz-sim-joint-state-publisher-system"
    name="gz::sim::systems::JointStatePublisher">
</plugin>

Joint State Reading

<plugin filename="gz-sim-scene-broadcaster-system"  name="gz::sim::systems::SceneBroadcaster"/>

Joint State Reading

<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>

Considerations

• gz::sim::systems::PosePublisher has been considered to read poses of entities. However, it's more convenient for tf2 given how the frames are described.
• The translation tool inside Gazebo can be used to move objects and reading their pose works only after the motion is finished. The intermediate state is not reflected in the pose topic.