170111-机械臂gazebo基础

sudo apt-get install ros-jade-gazebo-ros-pkgs ros-jade-gazeboros ros-jade-gazebo-msgs ros-jade-gazebo-plugins

<gazebo reference="bottom_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="base_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="shoulder_pan_link">
<material>Gazebo/Red</material>
</gazebo>

<xacro:macro name="transmission_block" params="joint_name">
<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>PositionJointInterface</
hardwareInterface>
</joint>
<actuator name="motor1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>

<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.
so">
<robotNamespace>/seven_dof_arm</robotNamespace>
</plugin>
</gazebo>

roslaunch seven_dof_arm_gazebo seven_dof_arm_world.launch

rosrun rviz rviz -f /rgbd_camera_optical_frame

cyton_gamma_1500_arm:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50 

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_roll_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_pitch_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint3_position_controller:
    type: position_controllers/JointPositionController
    joint: shoulder_yaw_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint4_position_controller:
    type: position_controllers/JointPositionController
    joint: elbow_pitch_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint5_position_controller:
    type: position_controllers/JointPositionController
    joint: elbow_yaw_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint6_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_pitch_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint7_position_controller:
    type: position_controllers/JointPositionController
    joint: wrist_roll_joint
    pid: {p: 100.0, i: 0.01, d: 10.0}

<launch>
  <!-- Launch Gazebo  -->
  <include file="$(find gamma_1500_gazebo)/launch/cyton_gamma_1500_world.launch" />  


  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find gamma_1500_gazebo)/config/cyton_gamma_1500_gazebo_control.yaml" command="load"/>


  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/cyton_gamma_1500_arm" args="joint_state_controller
                      joint1_position_controller
                      joint2_position_controller
                      joint3_position_controller
                      joint4_position_controller
                      joint5_position_controller
                      joint6_position_controller
                      joint7_position_controller"/>


  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/cyton_gamma_1500_arm/joint_states" />
  </node>

</launch>

roslaunch seven_dof_arm_gazebo seven_dof_arm_gazebo_control.launch
rostopic list
rostopic pub /seven_dof_arm/joint4_position_controller/command std_msgs/Float64 1.0
rostopic echo /seven_dof_arm/joint_states