Support package update - Githubissues

swri-robotics / gilbreth

robotic product handling simulation

BSD 3-Clause "New" or "Revised" License

18 stars 12 forks source link

Support package update #10

Closed marip8 closed 7 years ago

marip8 commented 7 years ago

Changes

Separated URDF elements (sensors, bins, robot system, etc.) so that they could be loaded as independent Gazebo models, which is necessary for some plugins
Loaded the full Gilbreth environment into Rviz
Created a lightweight Gazebo world file (necessary for some plugins)
Fixed MoveIt related bugs from previous implementation
Fixed bugs in instantiation of plugins

Functional Plugins

Gripper

Modify osrf_gear/src/VacuumGripperPlugin.cc line 586
- math::Vector3 gripperLinkNormal = gripperLinkPose.Rot().RotateVector(ignition::math::Vector3d(0, -1, 0));
Rebuild osrf_gear
rosservice call /gilbreth/gripper/control "enable: true"
Touch a part to pick it up
Conveyor
- rosservice call /gilbreth/conveyor/control "state: power: 100.0"

Issues

Occasional bugs:
- Gazebo GUI or Rviz dies on startup
- Gazebo will execute a move robot/rail move with only the robot
Best solution so far is to kill and relaunch

jrgnicho commented 7 years ago

@marip8 Thanks for the contribution, I'll try and review this as soon as I can.

jrgnicho commented 7 years ago

Could you change the commit author to your github user? See here for instructions.

jrgnicho commented 7 years ago

@marip8 where you able to change the commit author name?

jrgnicho commented 7 years ago

@marip8 thanks for the contribution