Cleanup and Update readme and robot files

gazebosim · May 27, 2021 · a16ffa5 · a16ffa5
1 parent 7bd17aa
commit a16ffa5
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Showing 5 changed files with 54 additions and 17 deletions.
diff --git a/ros_ign_gazebo_demos/README.md b/ros_ign_gazebo_demos/README.md
@@ -148,4 +148,14 @@ To try the demo launch:
 
     ros2 launch ros_ign_gazebo_demos robot_description_publisher.launch.py
 
-![](images/robot_state_publisher_demo.png)
+![](images/robot_state_publisher_demo.png)
+
+## Joint States Publisher
+
+Publishes joint states of the robot.
+
+To try the demo launch:
+
+    ros2 launch ros_ign_gazebo_demos joint_states.launch.py
+
+![](images/joint_states.png)
diff --git a/ros_ign_gazebo_demos/images/joint_states.png b/ros_ign_gazebo_demos/images/joint_states.png
diff --git a/ros_ign_gazebo_demos/launch/joint_states.launch.py b/ros_ign_gazebo_demos/launch/joint_states.launch.py
@@ -13,23 +13,24 @@ def generate_launch_description():
     pkg_ros_ign_gazebo_demos = get_package_share_directory('ros_ign_gazebo_demos')
 
     # Parse robot description from urdf
-    robot_description_file =  os.path.join(pkg_ros_ign_gazebo_demos, "models", "rrbot.urdf")
+    robot_description_file =  os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot.urdf')
     robot_description_config = open(robot_description_file).read()
-    robot_description = {"robot_description": robot_description_config}
+    robot_description = {'robot_description': robot_description_config}
 
     # Robot state publisher
     robot_state_publisher = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        output="both",
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='both',
         parameters=[robot_description],
     )
 
     # Ignition gazebo
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')),
+            launch_arguments={'ign_args': '-r empty.sdf'}.items(),
     )
 
     # RViz
@@ -41,7 +42,8 @@ def generate_launch_description():
     )
 
     # Spawn
-    rrbot_sdf_path =  os.path.join(pkg_ros_ign_gazebo_demos, "models", "rrbot.sdf")
+    rrbot_sdf_path =  os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot.sdf')
+    # rrbot_sdf_path =  os.path.join(pkg_ros_ign_gazebo_demos, 'models', 'rrbot2.sdf')
     print(rrbot_sdf_path)
     spawn = Node(package='ros_ign_gazebo', executable='create',
                 arguments=[
@@ -51,18 +53,18 @@ def generate_launch_description():
                 output='screen',
                 )
 
-    # Ign Bridge
+    # Ign - ROS Bridge
     bridge = Node(
         package='ros_ign_bridge',
         executable='parameter_bridge',
         arguments=[
                 # Clock (IGN -> ROS2)
                 '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
                 # Joint states (IGN -> ROS2)
-                '/world/default/model/rrbot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model',
+                '/world/empty/model/rrbot/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model',
                 ],
         remappings=[
-            ("/world/default/model/rrbot/joint_state", "joint_states"),
+            ('/world/empty/model/rrbot/joint_state', 'joint_states'),
         ],
         output='screen'
     )
@@ -72,7 +74,7 @@ def generate_launch_description():
                         executable='static_transform_publisher',
                         name='world_static_tf',
                         output='log',
-                        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'link1', 'world'])
+                        arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'base_link', 'world'])
 
     return LaunchDescription(
         [

diff --git a/ros_ign_gazebo_demos/models/rrbot.sdf b/ros_ign_gazebo_demos/models/rrbot.sdf
@@ -1,7 +1,25 @@
 <sdf version='1.7'>
   <model name='rrbot'>
+    <link name='base_link'>
+      <inertial>
+        <pose>0 0 1 0 -0 0</pose>
+        <mass>10</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name='fixed_joint' type='fixed'>
+      <parent>base_link</parent>
+      <child>link1</child>
+    </joint>
     <link name='link1'>
-      <pose>0 0 0 0 -0 0</pose>
+      <pose relative_to='base_link'>0 0 0 0 -0 0</pose>
       <inertial>
         <pose>0 0 1 0 -0 0</pose>
         <mass>1</mass>
@@ -47,8 +65,8 @@
           <upper>1e+16</upper>
         </limit>
         <dynamics>
-          <damping>0.7</damping>
-          <friction>0.0</friction>          
+          <damping>21.75</damping>
+          <friction>3.48</friction>          
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>
@@ -101,8 +119,8 @@
           <upper>1e+16</upper>
         </limit>
         <dynamics>
-          <damping>0.7</damping>
-          <friction>0.0</friction>          
+          <damping>21.75</damping>
+          <friction>3.48</friction>          
           <spring_reference>0</spring_reference>
           <spring_stiffness>0</spring_stiffness>
         </dynamics>

diff --git a/ros_ign_gazebo_demos/models/rrbot.urdf b/ros_ign_gazebo_demos/models/rrbot.urdf
@@ -8,6 +8,13 @@
   <material name="orange">
     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
   </material>
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="base_link"/>
+  <joint name="fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
   <!-- Base Link -->
   <link name="link1">
     <collision>