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Gazebo template files #200

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Gazebo template files #200

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@Nibanovic Nibanovic commented Apr 11, 2024 •
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Added gazebo prompt to setup-robot-bringup, but if necessary i can expand it into a setup-robot-simulation package

After setting up the bringup, if the user wants, can choose to add a dependency and robot_sim.launch.py file.

Notes:

  • The gazebo simulations functions only as bringup, to show that basic physics works and that gazebo and RViZ are talking. If used with our setup-robot-moveit script, you cannot move the robot in gazebo due to external forces (gravity) in the default world
  • This is not for humble, as it uses ros_gz_sim. As iron is coming around (which will use ros_gz_sim) and we use rolling alot, I didn't add separate template for humble. I can add if necessary.
  • I've put environment hooks in description package by default, no questions asked. I didn't want to bloat the setup script with more prompts, and all it does is expose mesh files to gazebo, in case you want to use it later.

Potential TODO's:

  • remove gazebo classic mentions from template files
  • add .xml simulation launch file

@Nibanovic
fix - same inactive and active controller is to be loaded
de569da
@Nibanovic
set JTC as default active controller for bringup template
76e3413 
* so that setup-moveit-package planning and execution works out of the box
@Nibanovic
add moveit template folder
da156cc
@Nibanovic
add temporary workspace for testing. delete after.
7837340 
* 'myrobot' is the robot name
* contains description, bringup and moveit packages
from which moveit templates will be derived
@Nibanovic
combine yaml files into one, simplify launch file
d0bce1b
@Nibanovic
add severity level launch argument
5171755 
* rviz severity is hardcoded to WARN
* movegroup severity default is INFO
@Nibanovic
separate ompl_planning.yaml config, refactor config
a14e8de
@Nibanovic
[myrobot_ws] remove unecessary dependencies
0e29682
@Nibanovic
add setup-robot-moveit.bash script
78c2440
@Nibanovic
add template files to moveit template folder
f79d6c3
@Nibanovic
add variable names to template files for SED-ing
fe8ad5c
@Nibanovic
add setup-robot-moveit alias, minor refactor
bbac850
@Nibanovic
remove unecessary files
64b82dd
@Nibanovic
add .xml launch file
87086b5
@Nibanovic
add README.md instructions
2b4900b
@Nibanovic
add licenses
e6491fe
@Nibanovic
adjust existing description files
11b3240 
* lift robot so it does not clip to ground plane in sim
* new joint position for joint2, same reason as above
@Nibanovic
update gazebo launch file and add env hooks
d728920 
* env hook file will be in the description package so it exposes meshes to gazebo during build
@Nibanovic
updated bringup script to ask if gazebo is to be added
966c61c
@Nibanovic
minor template adjustments
6e49fcc
@Nibanovic
moved gazebo env hooks to description pkg template
479848d 
* now description package automatically exposes mesh files to gazebo
* additionally, added deletion of include/ and src/ directiories when setting up description and bringup
@Nibanovic Nibanovic changed the base branch from master to moveit-package-template April 11, 2024 14:38
@Nibanovic Nibanovic requested a review from destogl April 11, 2024 14:56
@Nibanovic
issue [202]: add pathing flag for gazebo
4f41ce4 
* during simulation, absolute file:// is used
* on actual robot, relative package:// is used
@Nibanovic Nibanovic linked an issue Apr 22, 2024 that may be closed by this pull request
Optimize descritpion to be usable also remotely #202
Open
@Nibanovic
remove mention of gazebo classic in templates
3256e13 
* it is already not being accounted for in gazebo bringup files
@Nibanovic Nibanovic self-assigned this May 28, 2024
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Optimize descritpion to be usable also remotely
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