run on gazebo simulator

[national0587]

I want to run moveit on gazebo. but, It does not work well. Is it wrong to launch vs060_gazebo.launch and launch denso_vs060_moveit_demo.launch? Please let me know if you have any idea.

[k-okada]

you need to fix gazebo for kinetic configuratoin as and also run moveit with

roslaunch demo.launch include_startup_launch:=false

you may also need to publish base_link tf, I think I have seen the issue or workaround for this in moveit github page, but could not find this at this moment....

rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link BASE  100

diff --git a/vs060_gazebo/config/vs060_controllers.yaml b/vs060_gazebo/config/vs060_controllers.yaml
index 3e886ea..ea45193 100644
--- a/vs060_gazebo/config/vs060_controllers.yaml
+++ b/vs060_gazebo/config/vs060_controllers.yaml
@@ -1 +1 @@
-vs060:
+arm_controller:
@@ -6 +6,18 @@ vs060:
-  
+
+  # Position Trajectory Controllers -------------------
+  position_trajectory_controller:
+    type: "position_controllers/JointTrajectoryController"
+    joints:
+      - j1
+      - j2
+      - j3
+      - j4
+      - j5
+      - flange
+    constraints:
+        goal_time: 0.6
+        stopped_velocity_tolerance: 0.05
+    stop_trajectory_duration: 0.5
+    state_publish_rate:  25
+    action_monitor_rate: 10
+
diff --git a/vs060_gazebo/launch/vs060_control.launch b/vs060_gazebo/launch/vs060_control.launch
index 8c47426..a0c8ecf 100644
--- a/vs060_gazebo/launch/vs060_control.launch
+++ b/vs060_gazebo/launch/vs060_control.launch
@@ -8 +8 @@
-   output="screen" ns="/vs060" args="joint_state_controller joint1_position_controller joint2_position_controller joint3_position_controller joint4_position_controller joint5_position_controller joint6_position_controller"/>
+ output="screen" ns="arm_controller" args="joint_state_controller position_trajectory_controller"/>
@@ -13 +13 @@
-    <remap from="/joint_states" to="/vs060/joint_states" />
+    <remap from="/joint_states" to="/arm_controller/joint_states" />
diff --git a/vs060_gazebo/urdf/vs060.gazebo b/vs060_gazebo/urdf/vs060.gazebo
index e2b410e..4a360d2 100644
--- a/vs060_gazebo/urdf/vs060.gazebo
+++ b/vs060_gazebo/urdf/vs060.gazebo
@@ -7 +7 @@
-      <robotNamespace>/vs060</robotNamespace>
+      <robotNamespace>/arm_controller</robotNamespace>
diff --git a/vs060_gazebo/urdf/vs060.transmission.xacro b/vs060_gazebo/urdf/vs060.transmission.xacro
index 83cf955..dc71ac5 100644
--- a/vs060_gazebo/urdf/vs060.transmission.xacro
+++ b/vs060_gazebo/urdf/vs060.transmission.xacro
@@ -7 +7 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -10 +10 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -18 +18 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -21 +21 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -29 +29 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -32 +32 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -40 +40 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -43 +43 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -51 +51 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -54 +54 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -62 +62 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
@@ -65 +65 @@
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>