jizecn / freefloating_gazebo_demo

This package contains an example of underwater robot using the freefloating_gazebo plugin.

freefloating_gazebo_demo

This package contains an example of underwater robot using the freefloating_gazebo plugin.

The example can be run in three steps:

1. Synchronize UWsim and Gazebo files (to do once)
   This will scan the launchfile to create urdf from xacro files to be used in UWsim
   roslaunch freefloating_gazebo_demo g500arm5e.launch parse:=true

2. Launch the simulators
   This launches UWsim for the graphical part, and Gazebo to allow dynamic simulation.
   Gazebo is launched with the freefloating_gazebo_fluid and freefloating_gazebo_control plugins.
   A pid_control node is also launched and allows position and velocity control of the robot body and joints.

   • UWsim: roslaunch freefloating_gazebo_demo g500arm5e.launch
   • Gazebo: roslaunch freefloating_gazebo_demo g500arm5e_gazebo.launch uwsim:=true

3. Run the demo
   This will unpause the physics (that are paused by default) and run the open-loop recovery of the black box.
   Due to open-loop behavior the recovery will not always be performed.
   rosrun freefloating_gazebo_demo freefloating_gazebo_demo

4. Manual control
   The robot can also be controlled by hand using:
   roslaunch freefloating_gazebo_demo manual.launch
   Two gui will appear, allowing to control the axes of the body and the joints of the arm.