 | 1 | initial version |
I'm using Gazebo 9.7.0.
I'm adding a bumper sensor to my robot, and it appears different in Gazebo editor.
When the joint to the chassis is fixed:
It seems that the gripper, the yellow box, it is part of the chassis, the blue rectangle.
And, when the joint is continuous:
The gripper appears as a link in the editor.
Which is the best type of joint to a contact sensor?
Maybe, it would be better to set the sensor in the chassis.
I'm using Gazebo 9.7.0.
I'm adding a bumper sensor to my robot, and it appears different in Gazebo editor.
When the joint to the chassis is fixed:
It seems that the gripper, the yellow box, it is part of the chassis, the blue rectangle.
And, when the joint is continuous:
The gripper appears as a link in the editor.
Which is the best type of joint to a contact sensor?
Maybe, it would be better to set the sensor in the chassis.
And also, if I add a libgazebo_ros_bumper.so plugin, the topic appears as part of the chassis if the joint is fixed:
/gazebo/odom_world/mybot/base_link/bumper_contact_sensor
I'm using Gazebo 9.7.0.
I'm adding a bumper sensor to my robot, and it appears different in Gazebo editor.
When the joint to the chassis is fixed:
It seems that the gripper, the yellow box, it is part of the chassis, the blue rectangle.
And, when the joint is continuous:
The gripper appears as a link in the editor.
Which is the best type of joint to a contact sensor?
Maybe, it would be better to set the sensor in the chassis.
And also, if I add a libgazebo_ros_bumper.so plugin, the topic appears as part of the chassis if the joint is fixed:
/gazebo/odom_world/mybot/base_link/bumper_contact_sensor
The joint is named sensor_joint, and the SDF generated from an URDF Xacro file is:
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from nav_odom_description/urdf/mybot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="mybot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- If a <gazebo> element is used without a reference="" property, it is
assumed the <gazebo> element is for the whole robot model. -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/mybot</robotNamespace>
</plugin>
</gazebo>
<gazebo reference="chassis">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="caster_wheel">
<preserveFixedJoint>true</preserveFixedJoint>
<mu1>0.0</mu1>
<!-- Equals to zero to remove the friction. -->
<mu2>0.0</mu2>
<!-- Equals to zero to remove the friction. -->
<material>Gazebo/Red</material>
</gazebo>
<!-- BUMPER -->
<gazebo reference="gripper">
<preserveFixedJoint>true</preserveFixedJoint>
<material>Gazebo/Yellow</material>
<sensor name="bumper_contact_sensor" type="contact">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<contact>
<collision>gripper_collision_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gripper_bumper">
<bumperTopicName>gripper_contact_sensor_state</bumperTopicName>
<frameName>gripper</frameName>
</plugin>
</sensor>
</gazebo>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- CYLINDER INERTIA -->
<!-- BOX INERTIA -->
<!-- SPHERE INERTIA -->
<!-- WHEEL MACRO -->
<link name="base_link"/>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<!-- CHASSIS -->
<link name="chassis">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.4 0.2 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.4 0.2 0.1"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<mass value="50.0"/>
<inertia ixx="0.208333333333" ixy="0" ixz="0" iyy="0.708333333333" iyz="0" izz="0.708333333333"/>
</inertial>
</link>
<!-- CASTER WHEEL -->
<joint name="caster_joint" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
</joint>
<link name="caster_wheel">
<collision>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<mass value="5"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
</inertial>
</link>
<!-- BUMPER SENSOR -->
<joint name="sensor_joint" type="fixed">
<parent link="chassis"/>
<child link="gripper"/>
</joint>
<link name="gripper">
<collision name="gripper_collision">
<origin rpy="0 0 0" xyz="0.2 0 0.2"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.225 0 0.1"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.16666666667e-05" ixy="0" ixz="0" iyy="4.16666666667e-05" iyz="0" izz="4.16666666667e-05"/>
</inertial>
</link>
<link name="left_wheel">
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.0135416666667" ixy="0" ixz="0" iyy="0.0135416666667" iyz="0" izz="0.025"/>
</inertial>
</link>
<gazebo reference="left_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<joint name="left_wheel_hinge" type="continuous">
<parent link="chassis"/>
<child link="left_wheel"/>
<origin rpy="0 0 0" xyz="0.0 0.125 0.1"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="left_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_wheel_hinge">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="leftMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>10</mechanicalReduction>
</actuator>
</transmission>
<link name="right_wheel">
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.0135416666667" ixy="0" ixz="0" iyy="0.0135416666667" iyz="0" izz="0.025"/>
</inertial>
</link>
<gazebo reference="right_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<joint name="right_wheel_hinge" type="continuous">
<parent link="chassis"/>
<child link="right_wheel"/>
<origin rpy="0 0 0" xyz="0.0 -0.125 0.1"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="right_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_wheel_hinge">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rightMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>10</mechanicalReduction>
</actuator>
</transmission>
</robot>
I'm using Gazebo 9.7.0.
I'm adding a bumper sensor to my robot, and it appears different in Gazebo editor.
When the joint to the chassis is fixed:
It seems that the gripper, the yellow box, it is part of the chassis, the blue rectangle.
And, when the joint is continuous:
The gripper appears as a link in the editor.
Which is the best type of joint to a contact sensor?
Maybe, it would be better to set the sensor in the chassis.
And also, if I add a libgazebo_ros_bumper.so plugin, the topic appears as part of the chassis if the joint is fixed:
/gazebo/odom_world/mybot/base_link/bumper_contact_sensor
The joint is named sensor_joint, and the SDF generated from an URDF Xacro file is:
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from nav_odom_description/urdf/mybot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="mybot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- If a <gazebo> element is used without a reference="" property, it is
assumed the <gazebo> element is for the whole robot model. -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/mybot</robotNamespace>
</plugin>
</gazebo>
<gazebo reference="chassis">
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="caster_wheel">
<preserveFixedJoint>true</preserveFixedJoint>
<mu1>0.0</mu1>
<!-- Equals to zero to remove the friction. -->
<mu2>0.0</mu2>
<!-- Equals to zero to remove the friction. -->
<material>Gazebo/Red</material>
</gazebo>
<!-- BUMPER -->
<gazebo reference="gripper">
<preserveFixedJoint>true</preserveFixedJoint>
<material>Gazebo/Yellow</material>
<sensor name="bumper_contact_sensor" type="contact">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<contact>
<collision>gripper_collision_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gripper_bumper">
<bumperTopicName>gripper_contact_sensor_state</bumperTopicName>
<frameName>gripper</frameName>
</plugin>
</sensor>
</gazebo>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- CYLINDER INERTIA -->
<!-- BOX INERTIA -->
<!-- SPHERE INERTIA -->
<!-- WHEEL MACRO -->
<link name="base_link"/>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<!-- CHASSIS -->
<link name="chassis">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.4 0.2 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.4 0.2 0.1"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<mass value="50.0"/>
<inertia ixx="0.208333333333" ixy="0" ixz="0" iyy="0.708333333333" iyz="0" izz="0.708333333333"/>
</inertial>
</link>
<!-- CASTER WHEEL -->
<joint name="caster_joint" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
</joint>
<link name="caster_wheel">
<collision>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
<mass value="5"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
</inertial>
</link>
<!-- BUMPER SENSOR -->
<joint name="sensor_joint" type="fixed">
<parent link="chassis"/>
<child link="gripper"/>
</joint>
<link name="gripper">
<collision name="gripper_collision">
<origin rpy="0 0 0" xyz="0.2 0 0.2"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.225 0 0.1"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.16666666667e-05" ixy="0" ixz="0" iyy="4.16666666667e-05" iyz="0" izz="4.16666666667e-05"/>
</inertial>
</link>
<link name="left_wheel">
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.0135416666667" ixy="0" ixz="0" iyy="0.0135416666667" iyz="0" izz="0.025"/>
</inertial>
</link>
<gazebo reference="left_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<joint name="left_wheel_hinge" type="continuous">
<parent link="chassis"/>
<child link="left_wheel"/>
<origin rpy="0 0 0" xyz="0.0 0.125 0.1"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="left_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_wheel_hinge">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="leftMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>10</mechanicalReduction>
</actuator>
</transmission>
<link name="right_wheel">
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.0135416666667" ixy="0" ixz="0" iyy="0.0135416666667" iyz="0" izz="0.025"/>
</inertial>
</link>
<gazebo reference="right_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<joint name="right_wheel_hinge" type="continuous">
<parent link="chassis"/>
<child link="right_wheel"/>
<origin rpy="0 0 0" xyz="0.0 -0.125 0.1"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="right_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_wheel_hinge">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rightMotor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>10</mechanicalReduction>
</actuator>
</transmission>
</robot>
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