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luxai-qtrobot / QA

Virtual repository for Questions & Answers system
http://luxai-qtrobot.github.io
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can we simulate with gazebo #27

Open ZouJennie opened 4 years ago

ZouJennie commented 4 years ago

Because of recent situation with coronavirus we may need to telework, we need a simulation of qtrobot with gazebo. But I didn't find any information about it. Is there already a robot model of QTrobot in gazebo? or is there any alternative method? Thanks for your attention.

qtrobot commented 4 years ago

Hi @ZouJennie Unfortunately we do not have the simulator yet ready. It is in our plan but I cannot tel you know when it will be ready.
Anyway, we have robot URDF file which you can load it in Gazebo and implement your own interface.

You can check this issue #29.

qtrobot commented 4 years ago

Please also see our latest tutorial on how to use ROS MoveIt with QTrobot: https://github.com/luxai-qtrobot/tutorials/tree/master/examples/motors_moveit

RMichaelSwan commented 3 years ago

@qtrobot has there been any movement on this to include a visual model in rviz or gazebo? E.g. by taking an STL and converting it to a graphical urdf: https://github.com/ros/solidworks_urdf_exporter

apaikan commented 3 years ago

Hi @RMichaelSwan Indeed we have the 3D model of the robot also in STL. We need to understand to which extend and how release our design. Beside, we may need to work a bit to create lighter version of the STLs to be able to properly load it in Gazebo.

It would be good if you let us know more how do you want to use the model with simulator? As we have mentioned in the previous comments, we already provided a tutorial on how to use the QTrobot with ROS moveit. Although the model which is used for that tutorial is very simple but it does resemble the robot kinematic.

RMichaelSwan commented 3 years ago

Hi @apaikan, the original questioner's reasoning is about the same as ours. We are simulating a good portion of our system for people who have to work remotely and for testing. We have the simulator working, though without the STL, I suppose it's possible for us to have gestures that collide with the body but seem to be fine visually, so that could be a strong reason for adding some form of the STL.

We also have a number of people who are less experienced with ROS (and more experienced with human interactions) that would benefit from having a more visual view of the robot (it would also be amazing to get the face display working in RVIZ or gazebo shown with the body, but I'm dreaming). I suppose this falls more under the "nice to have" than "required" as technically the vectors shown in rviz are sufficient for debug. If this is out of scope for you guys right now, I might just attach some geometric primitives to the urdf to give people a good sense of the size of the arms, body, and head in relation to each other.