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Add openmanipulator simulation environment agent (#50)

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Whi Kwon
2019-05-03 21:25:15 +09:00
committed by GitHub
parent 16ae4375c9
commit c1f348775e
32 changed files with 1187 additions and 173 deletions
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launch/open_manipulator_env.launch
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+50
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<?xml version="1.0"?>
<launch>
<!-- gazebo related args -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- rviz & tf related args -->
<arg name="robot_name" default="open_manipulator"/>
<arg name="open_rviz" default="false" />
<arg name="use_gui" default="false" />
<!-- gazebo related -->
<rosparam file="$(find open_manipulator_gazebo)/config/gazebo_controller.yaml" command="load" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- rviz related -->
<!-- Send joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="/use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list" subst_value="true">["$(arg robot_name)/joint_states"]</rosparam>
</node>
<!-- Combine joint values to TF-->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!-- Show in Rviz -->
<group if="$(arg open_rviz)">
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_description)/rviz/open_manipulator.rviz"/>
</group>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>
<!-- ros_control robotis manipulator launch file -->
<include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch"/>
</launch>