diff --git a/gz_black_hole/launch/test.launch b/gz_black_hole/launch/black_hole_test.launch
similarity index 85%
rename from gz_black_hole/launch/test.launch
rename to gz_black_hole/launch/black_hole_test.launch
index 6bec36e022254c3cdad7c24a4f50142a8ba060c7..b52165a39fb3b4e1e81748abdc7cd02e3c1d6b67 100644
--- a/gz_black_hole/launch/test.launch
+++ b/gz_black_hole/launch/black_hole_test.launch
@@ -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)"/>
diff --git a/gz_black_hole/worlds/test.world b/gz_black_hole/worlds/black_hole_test.world
similarity index 60%
rename from gz_black_hole/worlds/test.world
rename to gz_black_hole/worlds/black_hole_test.world
index 951d3e08695fe0aca299c408f3d9ef3a17532198..27f5742819d19f26bf3eb8f0c493e74a8b541f17 100644
--- a/gz_black_hole/worlds/test.world
+++ b/gz_black_hole/worlds/black_hole_test.world
@@ -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>
diff --git a/gz_gripper_plugin/launch/gripper_test.launch b/gz_gripper_plugin/launch/gripper_test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..25332a9589e95729ea4283ec6cf6f033263f3636
--- /dev/null
+++ b/gz_gripper_plugin/launch/gripper_test.launch
@@ -0,0 +1,26 @@
+<?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>
+
diff --git a/gz_gripper_plugin/worlds/gripper_test.world b/gz_gripper_plugin/worlds/gripper_test.world
new file mode 100644
index 0000000000000000000000000000000000000000..4a296e12df3436bd8e49c75741d973b1f564ccb9
--- /dev/null
+++ b/gz_gripper_plugin/worlds/gripper_test.world
@@ -0,0 +1,126 @@
+<?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>