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Simplify ground-truth odom implementation #50

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Simplify ground-truth odom implementation #50

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3 changes: 3 additions & 0 deletions stretch_gazebo/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,3 +14,6 @@ install(DIRECTORY launch
install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

catkin_install_python(PROGRAMS scripts/unpause_after_wait
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
2 changes: 1 addition & 1 deletion stretch_gazebo/launch/gazebo.launch
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Expand Up @@ -53,6 +53,6 @@
<node name="stretch_controller_spawner" pkg="controller_manager" type="spawner"
args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller"/>

<node name="publish_ground_truth_odom" pkg="stretch_gazebo" type="publish_ground_truth_odom.py" output="screen"/>
<node name="unpause_after_wait" pkg="stretch_gazebo" type="unpause_after_wait" output="screen"/>

</launch>
43 changes: 0 additions & 43 deletions stretch_gazebo/scripts/publish_ground_truth_odom.py
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13 changes: 13 additions & 0 deletions stretch_gazebo/scripts/unpause_after_wait
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
#!/usr/bin/env python

from std_srvs.srv import Empty
import rospy
import time

rospy.init_node('unpause_after_wait')
rospy.wait_for_service('/gazebo/unpause_physics')
unpause_physics = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)

time.sleep(4.0)
unpause_physics()
rospy.loginfo("Physics unpaused")
17 changes: 16 additions & 1 deletion stretch_gazebo/urdf/stretch_gazebo.urdf.xacro
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Expand Up @@ -596,6 +596,21 @@
<joint name="joint_gripper_finger_right">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
</transmission>


<!-- Ground Truth Odom plugin -->
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>25.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>

</robot>