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ROS node example #144

Closed weixuanzhang closed 3 years ago

weixuanzhang commented 3 years ago

I would like to use the raisim simulator in the ros framework. I.e., the controller is publishing ros messages and there is a "raisim_node" that listens to these ros messages and update the dynamics. Is there already an instruction or an example I could use to start with? This would save me (I guess also other people some time to find the correct setup). Thanks!

jhwangbo commented 3 years ago

I haven't tried it myself. I don't have much experience with ROS but this seems trivial. RaiSim side should be the same as any examples in the examples folder. You only need to put the simulation code in a ROS node.

There was once a request for combining RaiSim with Gazebo ignition but I abandoned it due to its complexity.

Alex-Beh commented 3 years ago

@weixuanzhang Hello, may I know are you trying to display the joint angles that being simulated by the raisim and display it in RVIZ? Which simulator are you plannint to us? Raisim or Gazebo?

weixuanzhang commented 3 years ago

@weixuanzhang Hello, may I know are you trying to display the joint angles that being simulated by the raisim and display it in RVIZ? Which simulator are you plannint to us? Raisim or Gazebo?

@Alex-Beh Hi, I am using the ROS framework with Gazebo simulation (including the rotors_gazebo_plugin) for aerial robots. I wished to replace the physics engine with raisim. This seems to be not possible. Now my goal is to replace the gazebo with raisim (including the visualization)