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Implement basic pen position logger

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Nicolas Hiillos
2022-11-08 19:41:55 +02:00
parent 880c947cb9
commit 082efea9db
3 changed files with 77 additions and 2 deletions
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22
src/draw_svg/urdf/xarm_pen.urdf.xacro
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@@ -52,9 +52,9 @@
<joint name="eef_joint" type="fixed">
<parent link="link_eef"/>
<child link="test_link"/>
<child link="pen_link"/>
</joint>
<link name="test_link">
<link name="pen_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -72,6 +72,24 @@
</collision>
</link>
<!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
<gazebo>
<plugin name="pen_position" filename="libgazebo_ros_p3d.so">
<!-- <alwaysOn>true</alwaysOn> -->
<ros>
<remapping>odom:=pen_position</remapping>
</ros>
<frame_name>world</frame_name>
<!-- <body_name>pen_link</body_name> -->
<body_name>link6</body_name>
<!-- topic name is always /odom -->
<!-- <topic_name>pen_position</topic_name> -->
<update_rate>0.1</update_rate>
<!-- <xyzOffsets>0 0 0</xyzOffsets> -->
<!-- <rpyOffsets>0 0 0</rpyOffsets> -->
</plugin>
</gazebo>
</robot>
<!-- <robot name="lite6_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
<xacro:include filename="$(find xarm_description)/urdf/lite6/lite6.urdf.xacro"/>