[Documentation] [TitleIndex] [WordIndex

pr2_simulator: pr2_controller_configuration_gazebo | pr2_examples_gazebo | pr2_gazebo | pr2_gazebo_plugins | pr2_ogre

Package Summary

Gazebo Plugins for various PR2-specific sensors and actuators on the robot.

PR2 Plugins

This package contains dynamic plugins for Gazebo and ROS integration with simulated hardware.

Please see gazebo_plugins for additional supported hardware components in simulation.

Gazebo XML Plugin Configuration

gazebo_controller_manager

Parameters

Example

  <model:physical name="ray_model">
    <!-- GazeboMechanismControl -->
    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <robotParam>robot_description</robotParam>
      <robotNamespace>/</robotNamespace>
    </controller:gazebo_ros_controller_manager>
  </model:phyiscal>

gazebo_ros_prosilica

Parameters

Example

  <body:empty name="camera_body_name">
    <sensor:camera name="high_def_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>2448 2050</imageSize>
      <hfov>45</hfov>
      <nearClip>0.1</nearClip>
      <farClip>100</farClip>
      <updateRate>20.0</updateRate>
      <controller:gazebo_ros_prosilica name="high_def_controller" plugin="libgazebo_ros_prosilica.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>20.0</updateRate>
        <imageTopicName>/prosilica/image_raw</imageTopicName>
        <cameraInfoTopicName>/prosilica/camera_info</cameraInfoTopicName>
        <pollServiceName>/prosilica/request_image</pollServiceName>
        <frameName>high_def_frame</frameName>
        <CxPrime>1224.5</CxPrime>
        <Cx>1224.5</Cx>
        <Cy>1025.5</Cy>
        <focal_length>2955</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
        <interface:camera name="high_def_iface"/>
      </controller:gazebo_ros_prosilica>
    </sensor:camera>
  </body:empty>

gazebo_ros_power_node

Parameters

Example

 <model:physical name="ray_model">
    <!-- GazeboRosPowerMonitor -->
    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <timeout>5</timeout>
        <interface:audio name="power_monitor_dummy_interface" />
        <powerStateTopic>power_state</powerStateTopic>
        <powerStateRate>10.0</powerStateRate>
        <fullChargeCapacity>87.78</fullChargeCapacity>
        <dischargeRate>-474</dischargeRate>
        <chargeRate>525</chargeRate>
        <dischargeVoltage>15.52</dischargeVoltage>
        <chargeVoltage>16.41</chargeVoltage>
    </controller:gazebo_ros_power_monitor>
 </model:physical>

ROS API

gazebo_ros_power_node

Gazebo plugin for simulating the PR2 power monitor.

Subscribed Topics

plugged_in (pr2_gazebo_plugins/PlugCommand)

Published Topics

<powerStateTopic> (pr2_msgs/PowerState)

gazebo_ros_prosilica_node

Gazebo plugin for simulating the prosilica camera. This follows the standard ROS API for camera drivers.

Published Topics

<imageTopicName> (sensor_msgs/Image) <cameraInfoTopicName> (sensor_msgs/CameraInfo)

Services

request_image (polled_camera/GetPolledImage)

gazebo_ros_controller_manager

Gazebo plugin for loading the PR2 controller manager. As this plugin loads in the pr2_controller_manager directly, please see the pr2_controller_manager for API documentation.

Tutorials

  1. Attaching a ROS Ground Truth Pose Broadcaster to Objects in Simulation

    Attaching a ROS ground truth pose broadcaster to objects in simulation

Roadmap

This stack will be updated with new features as the PR2 hardware itself is updated. Future versions will also incorporate dynamic_reconfigure options to match ORS driver functionality.


2011-11-19 12:30