I'm new in Gazebo and I want to control a robot with the keyboard writing my own plugin.
I have found how to move the model, following this tutorial: http://gazebosim.org/tutorials?tut=pl...
I think is using this code:
this->model->SetLinearVel(ignition::math::Vector3d(.3, 0, 0));
But I don't know how when a key has been pressed and released.
How can I get those events in a plugin?
Good morning , me too i search the thing but i found an example that control the joints by kyes from key board
1- First you will use this 2 plugins :
KeyboardGUIPlugin, KeysToJointsPlugin from :
https://bitbucket.org/osrf/gazebo/src...
https://bitbucket.org/osrf/gazebo/src...
https://bitbucket.org/osrf/gazebo/src...
https://bitbucket.org/osrf/gazebo/src...
2- The world file :
https://bitbucket.org/osrf/gazebo/src...
3- The CMakeLists.txt as :
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
find_package (Qt5Core REQUIRED)
find_package (Qt5Widgets REQUIRED)
set (CMAKE_AUTOMOC ON)
find_package(gazebo REQUIRED)
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
add_library(KeyboardGUIPlugin MODULE KeyboardGUIPlugin.cc)
target_link_libraries(KeyboardGUIPlugin ${GAZEBO_LIBRARIES} Qt5::Core)
add_library(KeysToJointsPlugin MODULE KeysToJointsPlugin.cc)
target_link_libraries(KeysToJointsPlugin ${GAZEBO_LIBRARIES} Qt5::Core)
4- then run it :
mkdir build
cd build
cmake ../
make
export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH
gazebo -u --verbose ../simple_arm_teleop.world
test keys 6, y, h, u, j, i, k :)
Did you found anything helpfull ? tahnks
Asked: 2018-04-25 04:19:55 -0500
Seen: 1,465 times
Last updated: Nov 20 '18
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