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Using Gazebo with hrpsys
Description: this tutorials show how to use gazebo with hrpsys-baseTutorial Level: INTERMEDIATE
Next Tutorial: rtmros_common/Tutorials/AddRobotsEnvironmentsHrpsysSimulator
Contents
Install (12.04 Ubuntu)
sudo aptitude install ros-hydro-hrpsys-gazebo-general
Add following line to .bashrc
source `rospack find hrpsys_gazebo_general`/setup.sh
Try Demo Program of Biped Robot
Launch gazebo
Open Terminal and run gazebo
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch
Move robot with ros topic
You can move robot by ros topic even if hrpsys is not launched. /SampleRobot/joint_command is topic to send joint command. /SampleRobot/robot_state is topic to get robot state. Following command is the sample to send joint command. Joint command is not interpolated and robot joint moves to the target angle very fast.
rostopic pub /SampleRobot/joint_command hrpsys_gazebo_msgs/JointCommand "{position: [0.0, -0.34906585039886595, 0.0, 0.8203047484373336, -0.47123889803846897, 0.0, 0.5235987755982987, 0.0, 0.0, -1.0471975511965974, 0.15707963267948954, -0.11344640137963141, 0.6370451769779297, 0.0, -0.34906585039886595, 0.0, 0.8203047484373336, -0.47123889803846897, 0.0, 0.5235987755982987, 0.0, 0.0, -1.0471975511965974, -0.15707963267948954, -0.11344640137963141, -0.6370451769779297, 0.0, 0.0, 0.0], kpv_position: [250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 160.0, 120.0, 100.0, 160.0, 100.0, 100.0, 100.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 160.0, 120.0, 100.0, 160.0, 100.0, 100.0, 100.0, 250.0, 250.0, 250.0], desired_controller_period_ms: 1}" --once
rostopic pub /SampleRobot/joint_command hrpsys_gazebo_msgs/JointCommand "{position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], kpv_position: [250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 160.0, 120.0, 100.0, 160.0, 100.0, 100.0, 100.0, 250.0, 250.0, 250.0, 250.0, 250.0, 250.0, 160.0, 120.0, 100.0, 160.0, 100.0, 100.0, 100.0, 250.0, 250.0, 250.0], desired_controller_period_ms: 1}" --once
Move robot with hrpsys
Launch another terminal and start hrpsys-base
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch
Then, launch another terminal and make a robot walk
rosrun hrpsys_ros_bridge test-samplerobot.py
TIPS
Gazebo version
ros-hydro-hrpsys-gazebo-general depends on ros-hydro-gazebo-ros (gazebo version 1.9.*). HrpsysGazebo is available with newer gazebo (gazebo versin 3 or 4) if you install from source. https://github.com/start-jsk/rtmros_gazebo
Kill gazebo process
When you get the following error, previous gazebo process remains. Plese do pkill gzserver and try again.
roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch ... Exception [Master.cc:50] Unable to start server[Address already in use]. There is probably another Gazebo process running. ...
Teleport robot to initial position
Even if a robot falls down in gazebo, the robot can teleport to the initial position by Ctrl + Shift + R
Kinematics mode
Kinematics mode, which fixes the base link of the robot in the reference position of hrpsys, is available by adding option KINEMATICS_MODE.
rtmlaunch hrpsys_gazebo_general samplerobot_hrpsys_bringup.launch KINEMATICS_MODE:=true
