search

ipa320 / cob_gazebo_plugins

Apache License 2.0
9 stars 17 forks source link

Question: Kinetic release #19

Closed tdinesh closed 7 years ago

tdinesh commented 7 years ago

Is there a plan to release this for Kinetic/Gazebo 7.4? The hardware_interface::ControllerInfo API is changed. Also Gazebo 7.4 gazebo::physics::Joint API is different.

fmessmer commented 7 years ago

We are currently working on preparing kinetic branches for our repos... However, so far we haven't started to work on this plugin...@ipa-bnm did you have a look at this already?

Contributions are very welcome...I just created a kinetic_dev branch :wink:

fmessmer commented 7 years ago

We even might to think about contributing this back to the official https://github.com/ros-controls/gazebo_ros_control package, but there they don't seem to be prepared for kinetic, too....don't know how simulation with gazebo currently works under kinetic at all...I'm not yet there...

tdinesh commented 7 years ago

I would be happy to contribute. Had already started to make the API changes. Will create a pull request once I get it working.

tdinesh commented 7 years ago

I have the plugin working with kinetic and gazebo. But travis is failing. Can you check the scripts? travis.install.sh and travis.script.sh.

fmessmer commented 7 years ago

Thanks for the PR #21 However, it might take a while until we are actually able to test and release...

I guess travis fails because it does not support xenial...in all the other repos we are currentliy switching to https://github.com/ros-industrial/industrial_ci which is based on docker. @ipa-bnm FYI

benmaidel commented 7 years ago

+1 for #21 Yes travis is failing because xenial is not officially supported. We switched to ros-industrial/industrial_ci but are using our own fork for now. @tdinesh An example for an working .travis.yaml for kinetic can be found here: https://github.com/ipa320/cob_environments/tree/kinetic_dev. Would be great if you could include a working travis config into this PR.

tdinesh commented 7 years ago

Thanks @ipa-bnm. I have fixed the PR.

fmessmer commented 7 years ago

@tdinesh Out of couriosity, what (simulated) robot are you using this plugin with? What's your usecase? Would you be interested in an E-Stop behavior (see #16)? Would you support a transfer of the plugin to official gazebo_ros_pkgs - I already mentioned this once in a comment? Just asking because we haven't played back any feature from the original repo...don't know whether there is anything new in gazebo_ros_control plugin anyway

tdinesh commented 7 years ago

@ipa-fxm We are using the Kuka LBR iiwa 7 platform. The LBR has SmartServos which can switch torque/position control. But this was not available in Gazebo for https://github.com/SalvoVirga/iiwa_stack. E-stop behaviour would be good to have. I would support a transfer of the plugin. Even, I haven't seen anything new in gazebo_ros_control. Hope this answers everything.

fmessmer commented 7 years ago

cob_gazebo_plugins is release to kinetic (0.7.1-0) http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_gazebo_plugins