[6-Feature] Gazebo simulation with the arm

[JoshuaGabriel]

Is your feature request related to a problem? Please describe. Get the arm on gazebo.

Describe the solution you'd like

• need to define collisions in the urdf file first
• link the gazebo into the file

Describe alternatives you've considered Possible not to use Gazebo and use Unity, more open to the idea of Unity because I want to be able to use moveit package

Additional context http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo

[JoshuaGabriel]

An element within each element must be properly specified and configured.

We might need to calculate this individually for each link. I haven't tried using gazebo yet with the arm, but this might be needed according to the docs on here. (http://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros)

https://docs.google.com/document/d/12b684tOl-aLRubx9HFht0qc5BPMtknjQJH7_3LxKOOE/edit

[JoshuaGabriel]

If someone can turn this into a xacro file that would be great

http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File

[JoshuaGabriel]

Haven't been able to get the arm into gazebo yet, this is where I left off. Might have something to do with having no 'dummy' link, not sure yet. https://answers.ros.org/question/268655/gazebo_ros_control-plugin-is-waiting-for-model-urdf-in-parameter/

this would be a lot easier with xacro

This tutorial helps, need to launch the world roslaunch gazebo_ros empty_world.launch then run

rosrun gazebo_ros spawn_model -file `rospack find uvic_rover`/rover_description/UVicArm.urdf -urdf -x 0 -y 0 -z 1 -model MYROBOT

[chanhee20park]

To launch the arm in gazebo, run

source ~/catkin_ws/devel/setup.bash
roslaunch uvic_rover robot_xacro.launch

There are still two issues to fix: -The models that load in are too big -When unpaused, the different parts fall apart

[JoshuaGabriel]

Look into this, for getting moveit installed https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html

This is the moveit assistant if we want to get our model in moveit https://ros-planning.github.io/moveit_tutorials/doc/setup_assistant/setup_assistant_tutorial.html

[JoshuaGabriel]

I got the moveit package and tutorials to work if I build the moveit packages with catkin build, I had to delete the devel and build folder, then used catkin build