gazebo and ros control interface

mlogoth · May 12, 2018 · 509f244 · 509f244
1 parent 90ea7a7
commit 509f244
Show file tree

Hide file tree

Showing 55 changed files with 494 additions and 4,046 deletions.
diff --git a/README.md b/README.md
@@ -60,6 +60,22 @@ roslaunch pa10_moveit_config demo_velocity.launch
 3) Move the robot end effector using MoveIt framework.
 
 ## Gazebo
-:bangbang:
+You can launch Gazebo using the launch file- 
 
-** Not ready Yet **
+```sh
+roslaunch pa10_gazebo pa10.launch
+```
+
+The launch file :
+1. Launches Gazebo
+2. Loads the robot model in Gazebo
+3. Launched ros_control controller for the robot
+
+The controller is set to launch a joint trajectory controller.
+
+## Gazebo + MoveIt
+To run the Gazebo + Pa10 Controllers + MoveIt :
+```sh
+roslaunch pa10_gazebo pa10_moveit.launch rviz:=true
+```
+Set the argument ```rviz := true``` to launch RViz. 
diff --git a/README.md~ b/README.md~
diff --git a/pa10_description/README.md~ b/pa10_description/README.md~
diff --git a/pa10_description/launch/test.launch~ b/pa10_description/launch/test.launch~
diff --git a/pa10_description/launch/upload_pa10.launch~ b/pa10_description/launch/upload_pa10.launch~
diff --git a/pa10_description/urdf/arm.transmission.xacro b/pa10_description/urdf/arm.transmission.xacro
@@ -8,12 +8,14 @@
       <type>transmission_interface/SimpleTransmission</type>
 
       <actuator name="${name}_motor" >
+        <!--hardwareInterface>EffortJointInterface</hardwareInterface-->
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
         <mechanicalReduction>${reduction}</mechanicalReduction>
       </actuator>
 
       <joint name="${name}">
-        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        <!--hardwareInterface>EffortJointInterface</hardwareInterface-->
+        <hardwareInterface>PositionJointInterface</hardwareInterface>
       </joint>
 
     </transmission>

diff --git a/pa10_description/urdf/arm.transmission.xacro~ b/pa10_description/urdf/arm.transmission.xacro~
diff --git a/pa10_description/urdf/materials.xacro~ b/pa10_description/urdf/materials.xacro~
diff --git a/pa10_description/urdf/pa10.gazebo~ b/pa10_description/urdf/pa10.gazebo~