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Initial port to ROS 2 #41

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Initial port to ROS 2 #41

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cc8340b
Initial port to ROS 2
ahcorde Jan 14, 2021
1223411
Update config files with recent changes in gazebo_ros2_control
ahcorde Feb 2, 2021
826a6f2
Ported rrbot_gazebo package
ahcorde Feb 3, 2021
b325632
Added feedback
ahcorde Feb 3, 2021
fa5c6b2
Added license to rrbot_moveit_demo_nodes
ahcorde Feb 3, 2021
48695f9
Restored author on moveit example
ahcorde Feb 3, 2021
65fc070
Improved description
ahcorde Feb 4, 2021
105333d
load and launch the controllers
ahcorde Mar 5, 2021
a5b8877
Added note to notice that we should port to ROS 2 other packages
ahcorde Mar 18, 2021
927f581
beautify xacro
ahcorde Jun 10, 2021
79083ca
update version in package.xml
ahcorde Jun 10, 2021
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22 changes: 3 additions & 19 deletions README.md
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# Gazebo ROS Demos

* Author: Dave Coleman <[email protected]>
* Author: Alejandro Hernández
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I'd be in favor of simply removing this line... we're both authors, but so are many others who have contributed to this repo.

* License: GNU General Public License, version 3 (GPL-3.0)

Example robots and code for interfacing Gazebo with ROS

## Tutorials

[ROS URDF](http://gazebosim.org/tutorials/?tut=ros_urdf)
Example robots and code for interfacing Gazebo, ROS2 and Moveit2

## Quick Start

Rviz:

roslaunch rrbot_description rrbot_rviz.launch

Gazebo:

roslaunch rrbot_gazebo rrbot_world.launch

ROS Control:

roslaunch rrbot_control rrbot_control.launch

Example of Moving Joints:

rostopic pub /rrbot/joint2_position_controller/command std_msgs/Float64 "data: -0.9"
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ros2 launch rrbot_moveit_demo_nodes rrbot_demo.launch.py

## Develop and Contribute

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16 changes: 4 additions & 12 deletions rrbot_description/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.10.2)
project(rrbot_description)
find_package(ament_cmake REQUIRED)

find_package(catkin REQUIRED)
ament_package()

catkin_package()

install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY meshes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY urdf meshes DESTINATION share/${PROJECT_NAME})
202 changes: 0 additions & 202 deletions rrbot_description/launch/rrbot.rviz
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16 changes: 0 additions & 16 deletions rrbot_description/launch/rrbot_rviz.launch
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8 changes: 4 additions & 4 deletions rrbot_description/package.xml
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<author email="[email protected]">Dave Coleman</author>

<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>

<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>rviz2</run_depend>
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<export>
<build_type>ament_cmake</build_type>
</export>

</package>
16 changes: 10 additions & 6 deletions rrbot_description/urdf/rrbot.gazebo
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<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/rrbot</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
<parameters>$(find rrbot_moveit_demo_nodes)/config/gazebo_controllers.yaml</parameters>
<control_period>0.001</control_period>
</plugin>
</gazebo>

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<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>/rrbot/laser/scan</topicName>
<frameName>hokuyo_link</frameName>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/rrbot</namespace>
<remapping>~/out:=laser/scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
</plugin>
</sensor>
</gazebo>
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