sas_robot_driver_gazebo

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.