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Gazebo + ROS で自分だけのロボットをつくる 5. GazeboとROSの連携 ref: http://qiita.com/RyodoTanaka/items/6fa7e45f98b55376a95b
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<launch> | |
<!-- Load joint controller configurations from YAML file to parameter server --> | |
<rosparam file="$(find fourth_robot_control)/config/controller.yaml" command="load"/> | |
<!-- load the controllers --> | |
<node name="controller_spawner" pkg="controller_manager" | |
type="spawner" ns="fourth_robot" output="screen" | |
args="joint_state_controller | |
diff_drive_controller"/> | |
<!-- convert joint states to TF transforms for rviz, etc --> | |
<node name="robot_state_publisher" pkg="robot_state_publisher" | |
type="robot_state_publisher" | |
respawn="false" output="screen" ns="/fourth_robot"> | |
</node> | |
</launch> |
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fourth_robot: | |
joint_state_controller: | |
type: joint_state_controller/JointStateController | |
publish_rate: 50 | |
diff_drive_controller: | |
type : "diff_drive_controller/DiffDriveController" | |
left_wheel : 'left_wheel_joint' | |
right_wheel : 'right_wheel_joint' | |
publish_rate: 25.0 # default: 50 | |
pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] | |
twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] | |
# Wheel separation and diameter. These are both optional. | |
# diff_drive_controller will attempt to read either one or both from the | |
# URDF if not specified as a parameter | |
wheel_separation : 0.43515 | |
wheel_radius : 0.032 | |
# Wheel separation and radius multipliers | |
wheel_separation_multiplier: 1.0 # default: 1.0 |
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<your_robot_name>_control | |
├── CMakeLists.txt | |
├── config | |
│ └── controller.yaml | |
├── launch | |
│ └── <your_robot_name>_control.launch | |
└── package.xml |
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<gazebo> | |
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> | |
<robotNamespace>fourth_robot</robotNamespace> | |
</plugin> | |
</gazebo> |
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<?xml version="1.0"?> | |
<package> | |
<name><your_robot_name>_control</name> | |
<version>1.0.0</version> | |
<description>The <your_robot_name>_control package</description> | |
<maintainer email="your@mail.com">YourName/maintainer> | |
<license>BSD</license> | |
<buildtool_depend>catkin</buildtool_depend> | |
<run_depend>controller_manager</run_depend> | |
<run_depend>actionlib</run_depend> | |
<run_depend>actionlib_msgs</run_depend> | |
<run_depend>control_msgs</run_depend> | |
<run_depend>sensor_msgs</run_depend> | |
<run_depend>robot_state_publisher</run_depend> | |
</package> |
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<?xml version="1.0"?> | |
<robot xmlns:xacro="http://ros.org/wiki/xacro"> | |
<xacro:macro name="wheel_gazebo_v0" params="prefix"> | |
<gazebo reference="${prefix}_wheel_link"> | |
<selfCollide>true</selfCollide> | |
<mu1 value="0.8" /> | |
<mu2 value="0.8" /> | |
</gazebo> | |
</xacro:macro> | |
</robot> |
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<?xml version="1.0"?> | |
<robot xmlns:xacro="http://ros.org/wiki/xacro"> | |
<xacro:macro name="wheel_trans_v0" params="prefix"> | |
<transmission name="${prefix}_wheel_trans"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="${prefix}_wheel_joint"> | |
<hardwareInterface>VelocityJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="${prefix}_wheel_motor"> | |
<hardwareInterface>VelocityJointInterface</hardwareInterface> | |
<mechanicalReduction>30</mechanicalReduction> | |
</actuator> | |
</transmission> | |
</xacro:macro> | |
</robot> |
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