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Gazebo support (draft) #19

Merged
merged 25 commits into from
Jun 6, 2019
Merged

Gazebo support (draft) #19

merged 25 commits into from
Jun 6, 2019

Commits on May 17, 2019

  1. first step to gazebo support 

    rename links and joints to have semantic names
add inertia to all links
add laser and diffdrive plugins

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  2. add scripts taken and modifies from turtlebot3_simulation 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  3. add simulation launchfile 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  4. move urdf_spawner back in confbot_simulation 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  5. restore package:// path 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  6. add dependencies not part of the nightly image 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  7. blacklist dependencies built from source from the test invocation 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  8. fix test failures 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  9. almost empty world 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  10. rebasing 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  11. dont set use_sim_time as currently doesn't impact time used 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  12. Revert "dont set use_sim_time as currently doesn't impact time used" 

    This reverts commit b79ca27.
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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  13. use libgazebo_ros_init to have sim time published 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas @Karsten1987
    mikaelarguedas authored and Karsten1987 committed May 17, 2019
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Commits on May 20, 2019

  1. fix conversion error from string to bool 

    Signed-off-by: Karsten Knese <karsten@openrobotics.org>
    @Karsten1987
    Karsten1987 committed May 20, 2019
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  2. actually using the sim time parameter correctly 

    Signed-off-by: Karsten Knese <karsten@openrobotics.org>
    @Karsten1987
    Karsten1987 committed May 20, 2019
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Commits on May 21, 2019

  1. interpret launch configuration as yaml 

    Signed-off-by: Karsten Knese <karsten@openrobotics.org>
    @Karsten1987
    Karsten1987 committed May 21, 2019
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Commits on May 22, 2019

  1. visualize the laser scan in gazebo 

    Signed-off-by: Karsten Knese <karsten@openrobotics.org>
    @Karsten1987
    Karsten1987 committed May 22, 2019
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  2. use sim time 

    Signed-off-by: Karsten Knese <karsten@openrobotics.org>
    @Karsten1987
    Karsten1987 committed May 22, 2019
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Commits on Jun 5, 2019

  1. make laser_frame point forward 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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  2. gazebo_ros now declares/set use_sim_time to true by default 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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  3. add camera 

    Need to create an optical frame to match REP103 as camera plugin uses x forward and not z
forward
Need to source Gazebo setup file manually for the camera plugin to be
found and loaded successfully
No namespace provided to plugin as it appends the sensor name to the
namespace already, otherwise results in
/confbot_camera/confobt_camera/image_raw

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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  4. move back camera_frame on the robot base 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
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    mikaelarguedas committed Jun 5, 2019
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  5. add rviz config for gazebo 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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  6. add preliminary Gazebo section 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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  7. fix config file name in instructions 

    Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
    @mikaelarguedas
    mikaelarguedas committed Jun 5, 2019
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