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| Attach two Gazebo models with a virtual joint in a generalized grasp hack | ||
| # Gazebo Link Attacher | ||
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| # Build | ||
| ## Overview | ||
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| ```` | ||
| mkdir -p gazebo_link_attacher_ws/src | ||
| cd gazebo_link_attacher_ws/src | ||
| catkin_init_workspace | ||
| git clone https://github.com/pal-robotics/gazebo_ros_link_attacher.git | ||
| cd .. | ||
| - Attach two Gazebo models with a virtual joint in a generalized grasp hack. | ||
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| rosdep update | ||
| rosdep install --from-paths src --ignore-src -y --rosdistro humble | ||
| **Keywords:** gazebo, link, model | ||
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| colcon build | ||
| source install/setup.bash | ||
| ## License | ||
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| - The source code is released under a [Apache License 2.0](https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher/blob/main/LICENSE). | ||
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| ```` | ||
| **Author:** Claudia Ramos\ | ||
| **Affiliation:** Brazilian Institute of Robotics\ | ||
| **Maintainer:** Claudia Ramos, <[email protected]> | ||
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| The `gazebo_ros_link_attacher` package has been tested under ROS2 humble and Ubuntu 22.04. This package has been forked from <https://github.com/davidorchansky/gazebo_ros_link_attacher>. | ||
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| # Launch | ||
| ## Installation | ||
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| ros2 launch gazebo_ros_link_attacher test_attacher.py | ||
| ### Building | ||
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| Empty world with the plugin `libgazebo_ros_link_attacher.so` loaded (in the *worlds* folder). | ||
| - **Building with colcon** | ||
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| Which provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. | ||
| To build from source, clone the latest version from this repository into your `colcon` workspace and compile the package using | ||
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| And `/link_attacher_node/detach` service to specify two models and their links to be detached. | ||
| ```sh | ||
| cd YOUR_WORKSPACE/src | ||
| git clone https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher.git | ||
| cd YOUR_WORKSPACE | ||
| source /opt/ros/${ROS_DISTRO}/setup.bash | ||
| colcon build --packages-select gazebo_ros_link_attacher --event-handlers console_direct+ | ||
| source install/setup.bash | ||
| ``` | ||
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|  | ||
| - **Building from autoproj** | ||
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| # Run demo | ||
| See build configuration based on autoproj. After Installation and configuration of autoproj, run the following commands: | ||
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| In another shell, be sure to do `source install/setup.bash` of your workspace. | ||
| ```sh | ||
| cd YOUR_WORKSPACE | ||
| source env.sh | ||
| amake gazebo_ros_link_attacher | ||
| source install/setup.bash | ||
| ``` | ||
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| ros2 run gazebo_ros_link_attacher spawn_models.py | ||
| ### Unit Tests | ||
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| Three cubes will be spawned. | ||
| Run the unit tests with | ||
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| ros2 run gazebo_ros_link_attacher attach.py | ||
| ```sh | ||
| colcon test --packages-select gazebo_ros_link_attacher --event-handlers console_direct+ | ||
| ``` | ||
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| The cubes will be attached all between themselves as (1,2), (2,3), (3,1). You can move them with the GUI and you'll see they will move together. | ||
| Run the unit tests with autoproj | ||
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| ros2 run gazebo_ros_link_attacher detach.py | ||
| ```sh | ||
| autoproj test enable gazebo_ros_link_attacher | ||
| amake | ||
| autoproj test exec gazebo_ros_link_attacher | ||
| ``` | ||
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| The cubes will be detached and you can move them separately again. | ||
| ## Usage | ||
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| You can also spawn items with the GUI and run a rosservice call: | ||
| ```` | ||
| ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', | ||
| link_name_1: 'link', | ||
| model_name_2: 'cube2', | ||
| link_name_2: 'link'}' | ||
| ```` | ||
| ## Run demo | ||
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| And same thing to detach: | ||
| ```` | ||
| ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', | ||
| link_name_1: 'link', | ||
| model_name_2: 'cube2', | ||
| link_name_2: 'link'}' | ||
| ```` | ||
| Run the command below to start an empty world with the plugin `libgazebo_ros_link_attacher.so` loaded (in the *worlds* folder). | ||
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| ```sh | ||
| ros2 launch gazebo_ros_link_attacher test_attacher.py | ||
| ``` | ||
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| It provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. And `/link_attacher_node/detach` service to specify two models and their links to be detached. | ||
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| # Current status | ||
| It works! | ||
|  | ||
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| ~~Currently it crashes with:~~ | ||
| In another shell, run the command below to spawn three cubes: | ||
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| ```sh | ||
| ros2 run gazebo_ros_link_attacher spawn_models.py | ||
| ``` | ||
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| The cubes will be attached all between themselves as (1,2), (2,3), (3,1). You can move them with the GUI and you'll see they will move together. | ||
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| ```sh | ||
| ros2 run gazebo_ros_link_attacher attach.py | ||
| ``` | ||
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| And with 'detach.py' the cubes will be detached and you can move them separately again. | ||
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| ```sh | ||
| ros2 run gazebo_ros_link_attacher detach.py | ||
| ``` | ||
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| You can also spawn items with the GUI and run a rosservice call: | ||
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| ```sh | ||
| ros2 service call /attach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', | ||
| link_name_1: 'link', | ||
| model_name_2: 'cube2', | ||
| link_name_2: 'link'}' | ||
| ```` | ||
| ***** Internal Program Error - assertion (self->inertial != __null) failed in static void gazebo::physics::ODELink::MoveCallback(dBodyID): | ||
| /tmp/buildd/gazebo4-4.1.3/gazebo/physics/ode/ODELink.cc(178): Inertial pointer is NULL | ||
| Aborted (core dumped) | ||
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| And same thing to detach: | ||
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| ```sh | ||
| ros2 service call /detach 'gazebo_ros_link_attacher/srv/Attach' '{model_name_1: 'cube1', | ||
| link_name_1: 'link', | ||
| model_name_2: 'cube2', | ||
| link_name_2: 'link'}' | ||
| ```` | ||
| ~~Which I've only seen this other useful information: [Bitbucket gazebo removing moving model with ode friction fails](https://bitbucket.org/osrf/gazebo/issues/1177/removing-moving-model-with-ode-friction). But it didn't help me solve my crash. I guess when attaching one model to the other it removes the second one to re-create it attached to the first or something like that.~~ | ||
| ## Launch file | ||
| - [test_attacher.py](launch/test_attacher.py) | ||
| ~~And also this other issue: [Visualizing dynamically created joints](https://bitbucket.org/osrf/gazebo/issues/1077/visualizing-dynamically-created-joints) made me add a couple of lines more.~~ | ||
| - Start an empty world with the plugin `libgazebo_ros_link_attacher.so` loaded. Which provides the `/link_attacher_node/attach` service to specify two models and their links to be attached. | ||
| ~~The method to attach the links is based on the grasp hack of the Gripper in gazebo/physics: | ||
| [Gripper.hh](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.hh?at=default&fileviewer=file-view-default) | ||
| [Gripper.cc](https://bitbucket.org/osrf/gazebo/src/1d1e3a542af81670f43a120e1df7190592bc4c0f/gazebo/physics/Gripper.cc?at=default&fileviewer=file-view-default)~~ | ||
| ## Bugs & Feature Requests | ||
| ~~Which is to create a revolute joint on the first model (with range of motion 0) linking a link on the first model and a link on the second model.~~ | ||
| - Please report bugs and request features using the [Issue Tracker](https://github.com/Brazilian-Institute-of-Robotics/gazebo_ros_link_attacher/issues). |