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README.md

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Package structure

This package primarily contains the following:

  • Source code for a diabolo gazebo model plugin

This plugin controls the movement of the diabolo, like gyroscopic forces and angular velocity.
Source code : gazebo_diaboloplugin.cpp

  • URDF of the diabolo model

This uses stl data from the package diabolo_scene_description

Steps to take:

  1. roslaunch diabolo_gazebo diabolo_gazebo.launch
    This just starts a paused empty world for now
  2. rosrun diabolo_gazebo spawn_diabolo.py
    This spawns the diabolo in gazebo. The plugin should start up and subscribe to the required rostopics. Issue The topics subscribed to are being prepended with the name of the rosnode.

Notes

Have to rebuild package after making changes to plugin code and have to restart Gazebo

Helpful links

Basic model plugin
Setting joint and link velocities
Gazebo apply force Example gazebo force plugin source Example gazebo force plugin include Ignition math intro Publish to ros eco from gazebo plugin [https://wet-robots.ghost.io/simple-method-for-distance-to-ellipse/]

Known Issues
  • Removing gravity from a single link by setting the gravity tag in diabolo.urdf to 0 does not work. Following message raised by gazebo:

multiple inconsistent exists due to fixed joint reduction overwriting previous value [0] with [true] Resolved: Set all link gravities to 0 using the true tag in the urdf