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Commit 0a69ac2b authored by Alejandro Suarez Hernandez's avatar Alejandro Suarez Hernandez
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new test worlds

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gz_black_hole/launch/test.launch → gz_black_hole/launch/black_hole_test.launch
+ 2
− 2
View file @ 0a69ac2b
......@@ -2,7 +2,7 @@
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
......@@ -10,7 +10,7 @@
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find gz_black_hole)/worlds/test.world"/>
<arg name="world_name" value="$(find gz_black_hole)/worlds/black_hole_test.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
......
gz_black_hole/worlds/test.world → gz_black_hole/worlds/black_hole_test.world
+ 40
− 4
View file @ 0a69ac2b
......@@ -10,9 +10,45 @@
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://first_2015_trash_can</uri>
</include>
<include>
<uri>model://beer</uri>
<pose>0 0 1.5 0 0 0</pose>
</include>
<model name="black_hole">
<pose>0 0 0.05 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0 0 0 1</diffuse>
</material>
</visual>
</link>
<plugin filename="libgz_black_hole.so" name="gripper_plugin">
<star>beer</star>
</plugin>
</model>
<model name="box1">
<pose>0 0 0.5 1.57 0 0</pose>
<!--
<model name="first_2015_trash_can">
<pose>0 0 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
......@@ -32,7 +68,6 @@
<diffuse>0 0.75 0.38 1</diffuse>
</material>
</visual>
</link>
<plugin filename="libgz_black_hole.so" name="gripper_plugin">
......@@ -43,7 +78,7 @@
<model name="box2">
<pose>0 -1.05 0.5 0 0 0</pose>
<pose>0 0 1.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
......@@ -65,6 +100,7 @@
</visual>
</link>
</model>
-->
</world>
</sdf>
gz_gripper_plugin/launch/gripper_test.launch 0 → 100644
+ 26
− 0
View file @ 0a69ac2b
<?xml version="1.0" ?>
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find gz_gripper_plugin)/worlds/gripper_test.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<node name="close_client" pkg="actionlib" type="axclient.py" args="/gripper/close_tool iri_common_drivers_msgs/tool_closeAction"/>
<node name="open_client" pkg="actionlib" type="axclient.py" args="/gripper/open_tool iri_common_drivers_msgs/tool_openAction"/>
</launch>
gz_gripper_plugin/worlds/gripper_test.world 0 → 100644
+ 126
− 0
View file @ 0a69ac2b
<?xml version="1.0"?>
<sdf version="1.4">
<world name="kinect.world">
<scene>
<shadows>false</shadows>
</scene>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<!--<include>-->
<!--<static>true</static>-->
<!--<pose>2 3 1.45 0 0 0</pose>-->
<!--<name>beer1</name>-->
<!--<uri>model://beer</uri>-->
<!--</include>-->
<model name="box1">
<pose>0 0 0.5 1.57 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0.086 0.043 1</ambient>
<diffuse>0 0.75 0.38 1</diffuse>
</material>
</visual>
</link>
<plugin filename="libgz_gripper_plugin.so" name="gripper_plugin">
<gripper_link>link</gripper_link>
<z_offset>1.0</z_offset>
<deactivate_collision>1</deactivate_collision>
</plugin>
</model>
<model name="box2">
<pose>0 -1.05 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.10 0 0.043 1</ambient>
<diffuse>0.87 0 0.38 1</diffuse>
</material>
</visual>
</link>
</model>
<!--<model name="gripper">-->
<!--<pose>0 0 0.01 0 0 0</pose>-->
<!--<link name="link">-->
<!--<visual name="visual_main_block">-->
<!--<geometry>-->
<!--<box>-->
<!--<size>0.05 0.05 0.02</size>-->
<!--</box>-->
<!--</geometry>-->
<!--<material>-->
<!--<ambient>0.10 0.06 0.043 1</ambient>-->
<!--<diffuse>0.87 0.6 0.38 1</diffuse>-->
<!--</material>-->
<!--</visual>-->
<!--<collision name="collision_main_block">-->
<!--<geometry>-->
<!--<box>-->
<!--<size>0.05 0.05 0.02</size>-->
<!--</box>-->
<!--</geometry>-->
<!--</collision>-->
<!--<visual name="visual_finger_1">-->
<!--<pose>-0.0275 0 0.01 0 0 0</pose>-->
<!--<geometry>-->
<!--<box>-->
<!--<size>0.005 0.05 0.03</size>-->
<!--</box>-->
<!--</geometry>-->
<!--<material>-->
<!--<ambient>0.10 0.06 0.043 1</ambient>-->
<!--<diffuse>0.87 0.6 0.38 1</diffuse>-->
<!--</material>-->
<!--</visual>-->
<!--<visual name="visual_finger_2">-->
<!--<pose>0.0275 0 0.01 0 0 0</pose>-->
<!--<geometry>-->
<!--<box>-->
<!--<size>0.005 0.05 0.03</size>-->
<!--</box>-->
<!--</geometry>-->
<!--<material>-->
<!--<ambient>0.10 0.06 0.043 1</ambient>-->
<!--<diffuse>0.87 0.6 0.38 1</diffuse>-->
<!--</material>-->
<!--</visual>-->
<!--</link>-->
<!--</model>-->
</world>
</sdf>
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