pal-robotics / pal_gazebo_plugins Goto Github PK
View Code? Open in Web Editor NEWCommon Gazebo v1.9+ plugins used by the PAL Robotics robots
License: Apache License 2.0
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po1 efernandez lucamarchionni alexreimann bmagyar soshiant1992 robobench srishti-panda gitu1997 ousamasalafi mingfeisun xi-xi centrallabfacilities heegu94 mfernandezcarmona rayvburn steplerchikpal_gazebo_plugins's Issues
plugin's modification to make it compatible with ignition gazebo
Hi,
Since these plugins aren't supported by the ignition gazebo, I wanted to modify these plugins for my application. I had the following queries:
- How to obtain a license to modify these for personal use?
- Are the Pal robots supported in the ignition gazebo?
Thanks
Lack off version 'reemc-sim-0.2'
PAL packages
- git: {local-name: pal_gazebo_plugins, uri: 'https://github.com/pal-robotics/pal_gazebo_plugins.git', version: 'reemc-sim-0.2'}
In the "https://raw.githubusercontent.com/pal-robotics/pal-ros-pkg/master/reemc-sim-hydro.rosinstall "
there seems to have the version 'reemc-sim-0.2',however, I can not find this version from github. Thus I get some make problems in Using REEMC Simulation. How can I deal with this version bug.
Add missing dependency to control_toolbox
In https://github.com/pal-robotics/pal_gazebo_plugins/blob/hydro-devel/include/pal_gazebo_plugins/gazebo_pal_hand.h#L42 a header from control_toolbox is included, but the dependency is not present neither in the package.xml nor in the CMakeLists.txt
Updated version
There is an updated version, which fixed some compiling errors.
Fix compiling error: '***' has no member named 'SetAngle', or 'GetValueString'
For following compiling errors, I found a solution to solve it:
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:159:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[1]->SetAngle(0u, index_1_angle);
^
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:162:18: error: ‘class gazebo::physics::Joint’ has no member na
med ‘SetAngle’
joints[2]->SetAngle(0u, index_2_angle);
^
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:165:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[3]->SetAngle(0u, index_3_angle);
^
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:169:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[1]->SetAngle(0u, lower_limit);
^
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:170:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[2]->SetAngle(0u, lower_limit);
^
/home/mingfei/Documents/Engagement/src/pal_gazebo_plugins/src/gazebo_pal_hand.cpp:171:18: error: ‘class gazebo::physics::Joint’ has no member named ‘SetAngle’
joints[3]->SetAngle(0u, lower_limit);
error: ‘class sdf::Element’ has no member named ‘GetValueString’
ROS_ERROR_STREAM("Got pin_link value: " << _sdf->GetValueString("pin_link"));To fix it, modify *.cpp files in src/ folder as follows:
- gazebo_ros_forcetorque.cpp
- gazebo_pal_hand.cpp
- gazebo_harness.cpp
The modified version can also be found here (compiled successfully with gazebo 7, ros kinectic, ubuntu 16.04).
Migrate to modern Gazebo
As you may know, Gazebo-classic (aka Gazebo11, see Terminology) is no longer being actively developed and will not be available on ROS Jazzy (REP 2000). I noticed that this project still uses Gazebo-classic. Are there any plans to migrate to modern Gazebo (previously known as Ignition)?
These might be helpful resources if you do plan to migrate:
- Migration guide for SDF files: https://gazebosim.org/api/sim/8/migrationsdf.html
- Migration guild for Gazebo plugins: https://gazebosim.org/api/sim/8/migrationplugins.html
- Documentation for ros_gz: https://gazebosim.org/docs/harmonic/ros2_integration.
- https://github.com/gazebosim/ros_gz_project_template and its documentation.
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