My first using & trial and errors. (for gazebo-ros-control)

[devemin]

Dear syuntoku14

Thanks for creating this tool. It's fantastic & great & amazing !

I tried it for the first time. (Ubuntu 18.04, and ROS melodic) (2021/1/31) And maybe If I use this for gazebo-ros-control without errors , I need to modified the extracted files.

For gazebo-ros-control

example project name: -> quadrobot

1. In launch/controller.yaml file, at line 1 ( NG ) quadrobot_controller: ( OK ) quadrobot:

2. In urdf/quadrobot.gazebo file, at line 6-8, modify ( OK )

   
   <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
     <robotNamespace>/quadrobot</robotNamespace>
     <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
   </plugin>

--> Atrtention, the end of line. ...trol"/> -> ...trol"> (delete character "/" )

and maybe this ? (gazebo updating)

  <legacyModeNS>true</legacyModeNS>

Ref: 
https://qiita.com/srs/items/8868a8bef3752c3464a2
>>2019年の春当たりのアップデート以降では、ここで<robotSimType>と<legacyModeNS>の2つを入れる必要があります。

So, when I attached this 2 modify, I can did the rostopic message to /quadrobot/joint00_position_controller/command & got moving the joints.

ex) rostopic pub -1 /quadrobot/joint00_position_controller/command std_msgs/Float64 "data: -1.7"

#### Tutorial of gazebo-ros-control 
http://gazebosim.org/tutorials/?tut=ros_control

### And my tips
I am not familiar with ROS & gazebo.
I sometimes faced a problem. 
(with japanese)

### Unnecessary joints
NG "delete"  「除去」
OK "remove"   「削除」

(If I didn't, maybe appears this error.)
->AttributeError: 'NoneType' object has no attribute 'name'. 

https://twitter.com/devemin/status/1355521766479650816?s=20

### Joint pattern
NG "As-built joint"「位置固定ジョイント」
OK "Joint"「ジョイント」（オプションで回転、剛性）

NG "Rigid Group"
OK "Joint"「ジョイント」（オプションで剛性）

### gazebo name rules
1st character, not alphamerics.
and not use "-"
etc...
https://twitter.com/devemin/status/1355203294453399553?s=20

### gazebo playing button
If execute the gazebo, I shuold put the "play" button lol.
(or In gazebo.launch, change the "paused" -> "false" )

### Japanese strings
I replaced the japanese strings with text editors.  (after extract the files)

### Nice qiita blog
Fusion360で描いたロボットモデルをROSのURDF形式に変換する
https://qiita.com/ackermanrf128/items/cab9d1983435ece9e000

And again greatful thanks!!!!!!!!!!!

同じところで引っかかる方がいなければ良いなと思い、勝手に色々備忘録のような形で書かせて頂きました。
素敵なツールを本当にありがとうございます！

devemin
https://twitter.com/devemin