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How to add a new robot type
Description: How to add a new robot type to use in concert service gazeboKeywords: rocon concert app_manager simulation multirobot
Tutorial Level: BEGINNER
Next Tutorial: How to spawn robots in concert gazebo
Overview
This tutorial guides how to add a new type of gazebo robot in concert.
Concert Gazebo Type
Robot type in concert gazebo consists of two files.
.concert_gazebo
As described in [concert_service_gazebo/Tutorials/indigo/Overview#.concert_gazebo|Overview]], it defines what this robot type is, pointer to gazebo_plugin launcher, and flip_rules. pub, sub, and srv can be added as flip_rule. Also note that /tf and /clock are getting flipped by default.
Gazebo Plugin Launcher
The following example is kobuki gazebo plugin launcher. The launcher should have name, loc_x, loc_y, loc_z, loc_roll, loc_pitch, loc_yaw, and world_namespace args. These args get configured by gazebo service in runtime.
1 <launch>
2 <arg name="name" />
3 <arg name="loc_x" />
4 <arg name="loc_y" />
5 <arg name="loc_z" />
6 <arg name="loc_roll"/>
7 <arg name="loc_pitch"/>
8 <arg name="loc_yaw"/>
9 <arg name="world_namespace"/>
10 <arg name="use_full_gazebo_model" default="true"/>
11 <arg name="base_prefix" default="mobile_base"/>
12
13 <param name="tf_prefix" value="$(arg name)"/>
14 <param name="base_prefix" value="$(arg base_prefix)"/>
15 <param name="robot_description" command="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro' use_full_gazebo_model:=$(arg use_full_gazebo_model)"/>
16 <node pkg="gazebo_ros" type="spawn_model" name="spawn_$(arg name)"
17 args="-param robot_description
18 -x $(arg loc_x)
19 -y $(arg loc_y)
20 -z $(arg loc_z)
21 -R $(arg loc_roll)
22 -P $(arg loc_pitch)
23 -Y $(arg loc_yaw)
24 -unpause
25 -urdf
26 -model $(arg name)
27 -gazebo_namespace $(arg world_namespace)
28 " respawn="false" output="screen">
29 </node>
30
31 <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
32 <param name="publish_frequency" type="double" value="30.0" />
33 <param name="tf_prefix" value="$(arg name)"/>
34 </node>
35
36 <node pkg="nodelet" type="nodelet" name="$(arg name)_nodelet_manager" args="manager"/>
37 </launch>
The other examples:
Export
Gazebo service collects available robot types via package export. Please add relative path to concert_gazebo file with concert_gazebo tag to package.xml. Check concert_service_gazebo/package.xml as example
