From cc919a2c3916f5231f24e53647c719cecb9e1439 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 6 Jun 2016 22:24:55 +0200
Subject: [PATCH] Solved an orientation error in one of the obstacles of the
vision environment. Changes to be able to use a different robot by providing
its name. Chnages to allow the obstacles to move freely. Still not working.
---
...cm510_control.yaml => bioloid_ceabot.yaml} | 0
.../launch/bioloid_cm510_control.launch | 3 ++-
.../launch/bioloid_cm510_sim.launch | 1 +
.../urdf/ceabot/obstacle.xacro | 21 +++++++++++++++++--
.../urdf/ceabot/vision_env.xacro | 2 +-
5 files changed, 23 insertions(+), 4 deletions(-)
rename bioloid_control/config/{bioloid_cm510_control.yaml => bioloid_ceabot.yaml} (100%)
diff --git a/bioloid_control/config/bioloid_cm510_control.yaml b/bioloid_control/config/bioloid_ceabot.yaml
similarity index 100%
rename from bioloid_control/config/bioloid_cm510_control.yaml
rename to bioloid_control/config/bioloid_ceabot.yaml
diff --git a/bioloid_control/launch/bioloid_cm510_control.launch b/bioloid_control/launch/bioloid_cm510_control.launch
index 40e308b..a8d343c 100644
--- a/bioloid_control/launch/bioloid_cm510_control.launch
+++ b/bioloid_control/launch/bioloid_cm510_control.launch
@@ -1,9 +1,10 @@
<launch>
<arg name="mtn_file" default="bio_prm_humanoidtypea_en" />
+ <arg name="robot" default="bioloid_ceabot" />
<!-- Load joint controller configurations from YAML file to parameter server -->
- <rosparam file="$(find bioloid_control)/config/bioloid_cm510_control.yaml" command="load"/>
+ <rosparam file="$(find bioloid_control)/config/$(arg robot).yaml" command="load"/>
<param name="motions_file" value="$(find bioloid_controller_cm510)/motions/$(arg mtn_file).mtn"/>
diff --git a/bioloid_description/launch/bioloid_cm510_sim.launch b/bioloid_description/launch/bioloid_cm510_sim.launch
index 286663b..b0bfa7b 100644
--- a/bioloid_description/launch/bioloid_cm510_sim.launch
+++ b/bioloid_description/launch/bioloid_cm510_sim.launch
@@ -9,6 +9,7 @@
<include file="$(find bioloid_control)/launch/bioloid_cm510_control.launch">
<arg name="mtn_file" value="$(arg mtn_file)"/>
+ <arg name="robot" value="$(arg robot)"/>
</include>
</launch>
diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro
index e16aea1..d6b8eb2 100644
--- a/bioloid_description/urdf/ceabot/obstacle.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle.xacro
@@ -26,7 +26,7 @@
</collision>
</link>
- <joint name="${name}_joint" type="fixed">
+ <joint name="${name}_joint" type="floating">
<origin xyz="${grid_x*0.25+0.13} ${grid_y*0.25+0.63} 0" rpy="1.5707 0 0"/>
<parent link="${parent}_link"/>
<child link="${name}_link"/>
@@ -46,10 +46,27 @@
<xacro:qrcode name="${name}_east" parent="${name}" code="${east_code}">
<origin xyz="-0.126 0.375 0.0" rpy="3.14159 0 -1.5707" />
- </xacro:qrcode>-->
+ </xacro:qrcode>
<gazebo reference="${name}_link">
+ <gravity>true</gravity>
+ <selfCollide>false</selfCollide>
+ <maxContacts>10</maxContacts>
+ <dampingFactor>0.2</dampingFactor>
+ <maxVel>0.0</maxVel>
+ <minDepth>0.0</minDepth>
+ <mu1>0.200000</mu1>
+ <mu2>0.200000</mu2>
+ <kp>0.0</kp>
+ <kd>0.0</kd>
+ </gazebo>
+
+ <gazebo reference="${name}_joint">
+ <implicitSpringDamper>true</implicitSpringDamper>
+ <stopCfm>0.0</stopCfm>
+ <stopErp>0.0</stopErp>
</gazebo>
+
</xacro:macro>
</root>
diff --git a/bioloid_description/urdf/ceabot/vision_env.xacro b/bioloid_description/urdf/ceabot/vision_env.xacro
index f792a68..39b8d7b 100755
--- a/bioloid_description/urdf/ceabot/vision_env.xacro
+++ b/bioloid_description/urdf/ceabot/vision_env.xacro
@@ -10,7 +10,7 @@
<xacro:obstacle_vis name="obstacle1" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0" cosine="1" sine="0" code="turn_right_45"/>
<xacro:obstacle_vis name="obstacle2" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0.79" cosine="0.707" sine="0.707" code="turn_left_180"/>
<xacro:obstacle_vis name="obstacle3" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.14159" cosine="-1" sine="0" code="turn_right_45"/>
- <xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="0.707" code="turn_right_90"/>
+ <xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="-0.707" code="turn_right_90"/>
<xacro:obstacle_vis name="obstacle5" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="4.71" cosine="0" sine="-1" code="turn_right_180"/>
</robot>
--
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