mia_hand_gazebo
rel 1.0.0
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Package for simulating Mia Hand in Gazebo environment, interfacing the simulated hardware with ROS Control. The cpp class Mia_hw_sim expand the gazebo class gazebo_ros_control/DefaultRobotHWSim and allow to simulate the non linear behaviour of the Mia Hand coupled fingers. If the simulated Mia hand is attached to another robot the Mia_hw_sim class controls the joints of the additional robot as the gazebo_ros_control/DefaultRobotHWSim does. This allow to use Mia_hw_sim with every robot.
To be use add the MiaHWSim plugin lib in the gazebo ros control plugin lines as shown in the following example:
< gazebo > <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace> $(arg robotNamespace) </robotNamespace> <robotSimType> mia/MiaHWSim </robotSimType> </plugin> <gazebo>
In the folder config some simple controllers and trajectories controllers are provided. Please note that these controllers can be used in the robotNamespace "/". If the exploited robotnamespace is different adjust the namespace by declaring the robotNamespace argumentes in the launch file listed below. By default robotNamespace:=mia_hand_sim.
To launch the mia hand simulation you can use one of the following commands (please use robotNamespace arg to specify the namespace, by default robotNamespace:=mia_hand_sim):
roslaunch mia_hand_bringup mia_hand_Sim.launch
roslaunch mia_hand_bringup mia_hand_Sim.launch hw_interface_thumb_fle:=PositionJointInterface controller_thumb_fle:=position hw_interface_index_fle:=EffortJointInterface controller_index_fle:=eff hw_interface_mrl_fle:=VelocityJointInterface controller_mrl_fle:=velocity
roslaunch mia_hand_bringup mia_hand_Sim_traj.launch
roslaunch mia_hand_bringup mia_hand_Sim_traj.launch tc_type:=vel eff_interface:=false
roslaunch mia_hand_bringup mia_hand_Sim_traj.launch tc_type:=pos eff_interface:=false