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jhu-dvrk / dvrk-ros

daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Added interface for the Gazebo 1.9 onwards on the complete urdfs from JHU #6

Closed adnanmunawar closed 10 years ago

adnanmunawar commented 10 years ago

Hey Zihan.

I have removed the previous dv_gazebo_plugin package as that was outdated and no longer worked, ros groovy onwards. I have added a new gazebo interface that is based on the latest gazebo platform and compatible with ros-hydro onwards. This interface relies on the JHU's complete urdfs and not on the urdfs we had. I have made the necessary modifications to the mtm.urdf.xacro file, these changes are totally independent of the previous functionality and do not affect any other package or usage at all. I have tested this at my end.

You can now run the gazebo simulation of the MTM and I have provided the ros_topic interface for controlling all the joints. Based on the rough and wrong dynamic values in the mtm.urdf.xacro file, the response can be seen quite well and we can clearly see the dynamic oscillations and damping of joints when a new values is set of the joint. We can use this to develop an accurate dynamic model. I shall add a documentation .md file pretty soon. Hold on as I add a PSM gazebo interface soon enough as well.

Thanks, Adnan Munawar.

zchen24 commented 10 years ago

Hi Adnan,

Shall we split the gazebo part into a seperate repository? Also I'm interested in created a wiki page on ros.org

Thanks, Zihan

On Wed, Apr 30, 2014 at 2:45 AM, Adnan Munawar notifications@github.comwrote:

Hey Zihan.

I have removed the previous dv_gazebo_plugin package as that was outdated and no longer worked, ros groovy onwards. I have added a new gazebo interface that is based on the latest gazebo platform and compatible with ros-hydro onwards. This interface relies on the JHU's complete urdfs and not on the urdfs we had. I have made the necessary modifications to the mtm.urdf.xacro file, these changes are totally independent of the previous functionality and do not affect any other package or usage at all. I have tested this at my end.

You can now run the gazebo simulation of the MTM and I have provided the ros_topic interface for controlling all the joints. Based on the rough and wrong dynamic values in the mtm.urdf.xacro file, the response can be seen quite well and we can clearly see the dynamic oscillations and damping of joints when a new values is set of the joint. We can use this to develop an accurate dynamic model. I shall add a documentation .md file pretty soon. Hold on as I add a PSM gazebo interface soon enough as well.

Thanks,

Adnan Munawar.

You can merge this Pull Request by running

git pull https://github.com/adnanmunawar/dvrk-ros wpi_adnan

Or view, comment on, or merge it at:

https://github.com/jhu-dvrk/dvrk-ros/pull/6 Commit Summary

  • Removed outdate Gazebo Interface for incomplete PSM
  • Added transmission tags and custom gazebo controller plugin to mtm.urdf.xacro file
  • Added Gazebo 1.9 interface for control to replace the outdated gazebo PSM interface

File Changes

  • D dv_gazebo_plugins/CMakeLists.txthttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-0(23)
  • D dv_gazebo_plugins/include/daVinciGazeboJointController.hhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-1(109)
  • D dv_gazebo_plugins/manifest.xmlhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-2(40)
  • D dv_gazebo_plugins/src/daVinciGazeboJointController.cpphttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-3(285)
  • D dv_gazebo_plugins/src/daVinciGazeboPlugins/init.pyhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-4(1)
  • D dv_gazebo_plugins/src/daVinciGazeboPlugins/srv/_SetJointState.pyhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-5(438)
  • D dv_gazebo_plugins/src/daVinciGazeboPlugins/srv/init.pyhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-6(1)
  • D dv_gazebo_plugins/srv/SetJointState.srvhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-7(5)
  • A dvrk_gazebo/CMakeLists.txthttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-8(37)
  • A dvrk_gazebo/config/mtm_control.yamlhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-9(36)
  • A dvrk_gazebo/include/dvrk_gazebo_controller.hhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-10(79)
  • A dvrk_gazebo/launch/mtm_control.launchhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-11(16)
  • A dvrk_gazebo/launch/mtm_control.perspectivehttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-12(116)
  • A dvrk_gazebo/launch/mtm_gazebo.launchhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-13(18)
  • A dvrk_gazebo/package.xmlhttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-14(51)
  • A dvrk_gazebo/src/dvrk_gazebo_controller.cpphttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-15(135)
  • M dvrk_model/model/mtm.urdf.xacrohttps://github.com/jhu-dvrk/dvrk-ros/pull/6/files#diff-16(120)

Patch Links:

Reply to this email directly or view it on GitHubhttps://github.com/jhu-dvrk/dvrk-ros/pull/6 .

adnanmunawar commented 10 years ago

Hello Zihan.

I think the code for gazebo interface is very less and it heavily relies on the dvrk-ros stack. I guess it would be better to keep the gazebo interface part of the dvrk-ros interface but if you think it is still better to split it up, then I am fine with it.

Secondly, that's a great idea to make a ros wiki page. I had been thinking on the same lines for quite a while, I guess at this point we have really good code to share with the ROS community, we should thus definitely go ahead and do this.

Thanks, Adnan

adnanmunawar commented 10 years ago

Moved dvrk_gazebo to the newly created repo