HeeroYui-deprecated/nao_dcm
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Fixes to compensate change of external package [roboticsgroup_gazebo_plugins]

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Konstantinos Chatzilygeroudis 2014-06-02 17:07:47 +03:00
parent 763474902a
commit 39452dd4e3
4 changed files with 19 additions and 19 deletions
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4
README.md
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@ -23,7 +23,7 @@ nao_dcm requires several packages to be installed in order to work properly:
* [ROS MoveIt!] - Used for motion planning
* [ROS Control] - **Version >=0.6.0**
* [Webots for Nao] - The best? simulator so far [optional]
* [Gazebo] - Work in progress but with satisfactory results (**Version >= 2.2.2 alongside gazebo-ros-pkgs >= 2.3.4 and [gazebo_plugins]**) [optional]
* [Gazebo] - Work in progress but with satisfactory results (**Version >= 2.2.2 alongside gazebo-ros-pkgs >= 2.3.4 and [roboticsgroup_gazebo_plugins]**) [optional]
* [Nao Robot] - A real working Nao is the best "simulator" you'll ever get!! **Version >= V4.0 and flashed OpenNao OS >= 1.14.5**
Basic Usage
@ -115,6 +115,6 @@ Copyright (c) 2014, **Konstantinos Chatzilygeroudis**
[nao robot]: http://www.aldebaran.com/en/humanoid-robot/nao-robot
[nao_meshes]: https://github.com/vrabaud/nao_meshes
[ros control]: http://wiki.ros.org/ros_control
[gazebo_plugins]: http://www.github.com/costashatz/gazebo_plugins
[roboticsgroup_gazebo_plugins]: http://www.github.com/costashatz/roboticsgroup_gazebo_plugins
[robot.xacro]: https://github.com/costashatz/nao_dcm/blob/master/nao_dcm_common/nao_dcm_description/urdf/modules/robot.xacro
[gazebo launch]: https://github.com/costashatz/nao_dcm/tree/master/nao_dcm_apps/nao_dcm_gazebo/launch

2
nao_dcm_apps/nao_dcm_gazebo/CMakeLists.txt
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@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(nao_dcm_gazebo)
## Find catkin
find_package(catkin REQUIRED COMPONENTS gazebo_ros gazebo_plugins)
find_package(catkin REQUIRED COMPONENTS gazebo_ros)
##Needed for ros packages
catkin_package()

2
nao_dcm_apps/nao_dcm_gazebo/package.xml
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@ -39,7 +39,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
<run_depend>nao_dcm_description</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>gazebo_plugins</run_depend>
<run_depend>roboticsgroup_gazebo_plugins</run_depend>
<export>

30
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
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@ -2,50 +2,50 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- MACROS FOR DISABLE LINKS -->
<xacro:macro name="DisabledLinks" params="side side_small">
<plugin name="${side}Finger11" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger11" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger11</link>
</plugin>
<plugin name="${side}Finger12" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger12" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger12</link>
</plugin>
<plugin name="${side}Finger13" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger13" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger13</link>
</plugin>
<plugin name="${side}Finger21" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger21" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger21</link>
</plugin>
<plugin name="${side}Finger22" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger22" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger22</link>
</plugin>
<plugin name="${side}Finger23" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Finger23" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Finger23</link>
</plugin>
<plugin name="${side}Thumb1" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Thumb1" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Thumb1</link>
</plugin>
<plugin name="${side}Thumb2" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side}Thumb2" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side}Thumb2</link>
</plugin>
<plugin name="${side_small}_gripper" filename="libgazebo_disable_link_plugin.so">
<plugin name="${side_small}_gripper" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
<link>${side_small}_gripper</link>
</plugin>
</xacro:macro>
<!-- MACROS FOR MIMIC JOINTS -->
<!-- Fingers -->
<xacro:macro name="FingerMimics" params="side num">
<plugin name="mimic_${side}Finger${num}" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="mimic_${side}Finger${num}" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
</plugin>
<plugin name="mimic_${side}Finger${num}_1" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="mimic_${side}Finger${num}_1" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}_1</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
</plugin>
<plugin name="mimic_${side}Finger${num}_2" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="mimic_${side}Finger${num}_2" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Finger${num}_2</mimicJoint>
<multiplier>-${PI/4}</multiplier>
@ -54,13 +54,13 @@
</xacro:macro>
<!-- Thumbs -->
<xacro:macro name="ThumbMimics" params="side">
<plugin name="${side}Thumb1_joint" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="${side}Thumb1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Thumb1_joint</mimicJoint>
<multiplier>-${PI/4}</multiplier>
<offset>${PI/4}</offset>
</plugin>
<plugin name="${side}Thumb1_2" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="${side}Thumb1_2" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${side}Hand</joint>
<mimicJoint>${side}Thumb1_2</mimicJoint>
<multiplier>-${PI/4}</multiplier>
@ -88,7 +88,7 @@
<alwaysOn>true</alwaysOn>
</plugin>
<!-- Mimic joints through plugin develop by costashatz based on implementation by Goncalo Cabrita -->
<plugin name="mimic_hipyawpitch" filename="libgazebo_mimic_joint_plugin.so">
<plugin name="mimic_hipyawpitch" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>LHipYawPitch</joint>
<mimicJoint>RHipYawPitch</mimicJoint>
<multiplier>1.0</multiplier>