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Pygazebo python gazebo interface

asked 2015-05-19 05:52:41 -0500

Tytteboevsen gravatar image

I am trying to get python and gazebo working together using pygazebo but i cannot get it to work. I know there is an old threat about it but i decided to start a new one. Old threat on python and gazebo

I am trying to make it as simple as possible and therefore only making one joint move through python. I tried to start gazebo and then insert a robot and then control one of the wheels.

Here is the model.config file:

<?xml version="1.0"?>
<model>
  <name>my_robot1</name>
  <version>1.0</version>
  <sdf version='1.4'>model.sdf</sdf>

  <author>
   <name>My Name</name>
   <email>me@my.email</email>
  </author>

  <description>
    My awesome robot.
  </description>
</model>

And the model.sdf file:

<?xml version='1.0'?>
<sdf version='1.4'>
  <model name="my_robot">
    <static>false</static>

      <link name='chassis'>
        <pose>0 0 .1 0 0 0</pose>

        <collision name='collision'>
          <geometry>
            <box>
              <size>.4 .2 .1</size>
            </box>
          </geometry>
        </collision>

        <visual name='visual'>
          <geometry>
            <box>
              <size>.4 .2 .1</size>
            </box>
          </geometry>
        </visual>

      <collision name='caster_collision'>
        <pose>-0.15 0 -0.05 0 0 0</pose>
        <geometry>
            <sphere>
            <radius>.05</radius>
          </sphere>
        </geometry>

        <surface>
          <friction>
            <ode>
              <mu>0</mu>
              <mu2>0</mu2>
              <slip1>1.0</slip1>
              <slip2>1.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>

      <visual name='caster_visual'>
        <pose>-0.15 0 -0.05 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>.05</radius>
          </sphere>
        </geometry>
      </visual>

      </link>

      <link name="left_wheel">
    <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
      </link>

      <link name="right_wheel">
    <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
    <collision name="collision">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <cylinder>
          <radius>.1</radius>
          <length>.05</length>
        </cylinder>
      </geometry>
    </visual>
      </link>

      <joint type="revolute" name="left_wheel_hinge">
    <pose>0 0 -0.03 0 0 0</pose>
    <child>left_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
      </joint>

      <joint type="revolute" name="right_wheel_hinge">
    <pose>0 0 0.03 0 0 0</pose>
    <child>right_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 1 0</xyz>
    </axis>
      </joint>

  </model>
</sdf>

And finally my pygazebo.py script:

# -*- coding: utf-8 -*-
"""
Created on Mon Nov 24 19:23:30 2014

@author: morten
"""

import trollius
from trollius import From

import pygazebo
import pygazebo.msg.joint_cmd_pb2

@trollius.coroutine
def publish_loop():
    manager = yield From(pygazebo.connect())

    publisher = yield From(
    manager.advertise('/gazebo/default/model/joint_cmd',
                      'gazebo.msgs.JointCmd'))

    message = pygazebo.msg.joint_cmd_pb2.JointCmd()
    message.name = 'my_robot1::left_wheel_hinge'
    message.axis = 0
    message.force = 1.0

    #while True:
    yield From(publisher.publish(message))
    yield From(trollius.sleep(10.0))

loop = trollius.get_event_loop()
loop.run_until_complete(publish_loop())

Any help would be appreciated.

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1 Answer

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answered 2015-05-20 09:14:16 -0500

Tytteboevsen gravatar image

I got it to work using this code:

# -*- coding: utf-8 -*-
"""
Created on Mon Nov 24 19:23:30 2014

@author: morten
"""

import pygazebo
import pygazebo.msg.joint_cmd_pb2

import trollius
from trollius import From

#import pygazebo
#import pygazebo.msg.joint_cmd_pb2

@trollius.coroutine
def publish_loop():
    manager = yield From(pygazebo.connect())

    publisher = yield From(
    manager.advertise('/gazebo/default/my_robot/joint_cmd',
                      'gazebo.msgs.JointCmd'))

    message = pygazebo.msg.joint_cmd_pb2.JointCmd()
    message.name = 'my_robot::left_wheel_hinge'
    message.axis = 0
    message.force = 1.0

    while True:
    yield From(publisher.publish(message))
    yield From(trollius.sleep(1.0))

loop = trollius.get_event_loop()
loop.run_until_complete(publish_loop())
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Asked: 2015-05-19 05:52:41 -0500

Seen: 1,669 times

Last updated: May 20 '15