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SNRLab / SlicerROSIntegrationTraining

Create a plugin software to connect ROS and Slicer by OpenIGTLink
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Insert a test kinematics file to your package for ROS #12

Closed ayamada0614 closed 11 years ago

ayamada0614 commented 11 years ago

I have already added the kinematics. The file name is threeLinkModel.model.

ayamada0614 commented 11 years ago

Put the kinematics to /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo-1.0.2/models/ Then, execute roslaunch gazebo_world empty_world.launch and insert the model named threeLinkModel.

jamesmith commented 11 years ago

Is insert model procedure right in the following steps?

  1. Copy .model file to models/

    $ sudo cp threeLinkModel.model /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo-1.0.2/models/

  2. Launch Gazebo simulator

    $ roslaunch gazebo_worlds empty_world.launch
  3. Select insert model click Insert Model tab in Gazebo GUI. and clike threeLinkModel.model in insert Model list
  4. Insert model clike view in Gazebo. confirm inserted threeLinkMode.
jamesmith commented 11 years ago

Can I move this model ? Please tell me how to move if I can move it.

ayamada0614 commented 11 years ago

On the model, please right click.

ayamada0614 commented 11 years ago

Select "Joint"

ayamada0614 commented 11 years ago

You can see where the joints are.

ayamada0614 commented 11 years ago

Right click and reselect Joint. You can see the joint coordinates were disappeared.

ayamada0614 commented 11 years ago

Right click on the model and click Control Joints.

ayamada0614 commented 11 years ago

Select Position tab.

ayamada0614 commented 11 years ago

Change Radians to Degrees.

ayamada0614 commented 11 years ago

Change each joint angle from 0 to 20 for example.

ayamada0614 commented 11 years ago

You can see that each link was moved following your specified angle.

ayamada0614 commented 11 years ago

Once you made sure the links were moved but the base did not move, you can close this issue. Thanks.

jamesmith commented 11 years ago

I succeed move model. and, I show the joint coordinates.

I noticed. Bad > Right click and select Joint in View. OK > Right click and select Joint in Models list.

ayamada0614 commented 11 years ago

Are you talking about that Gazebo can be crushed when you click the coordinate object twice?

jamesmith commented 11 years ago

I wanted to say as follows.

Bad > Right click and select Joint in View.

The showing of the coordinate did not change when I Right click and select Joint in View.