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[gazebo] Resupport gazebo environment #1911

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[gazebo] Resupport gazebo environment #1911

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20 changes: 19 additions & 1 deletion jsk_fetch_robot/README.md
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Expand Up @@ -96,6 +96,19 @@ or
Gazebo can be used for simulating robot's movements.
It is unable to communicate to the real robot when running the simulation.

#### Create the environment

``` bash
cd catkin_ws/src
vcs import < jsk-ros-pkg/jsk_robot/jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
rosdep install -y -r --from-paths . --ignore-src
cd ../
catkin build
source devel/setup.bash
```

#### How to run

```bash
roslaunch fetch_gazebo simulation.launch
roslaunch fetch_moveit_config move_group.launch
Expand All @@ -106,6 +119,11 @@ Roseus script can be executed on Gazebo. The whole demo is in `jsk_fetch_gazebo_
roslaunch jsk_fetch_gazebo_demo demo.launch
```

If you want to spawn 73B2 model
```bash
roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch
```

## Fetcheus APIs

### Common
Expand Down Expand Up @@ -357,7 +375,7 @@ c.f.
furushchev@fetch15:/var/log/ros$ ls -lFahd
drwxrwsr-x 381 ros ros 36K Nov 2 01:45 ./
furushchev@pr2:/var/log/ros$ ls -lFahd
drwxr-xr-x 6 ros ros 36K 11月 1 15:25 ./
drwxr-xr-x 6 ros ros 36K 11 月 1 15:25 ./
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```

- change script for auto `undocking` to disable auto rotatation after unplugged
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9 changes: 9 additions & 0 deletions jsk_fetch_robot/jsk_fetch_gazebo.noetic.repos
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@@ -0,0 +1,9 @@
repositories:
ZebraDevs/fetch_gazebo:
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humm, it seems fetch_robotics trasfer the repo to ZebraDevs, https://github.com/orgs/fetchrobotics/repositories, if there are conversation on this topic, please add that information.
if this repo is working on noetic, please add comments to ZebraDevs/fetch_gazebo#112 and also ask for the release.

type: git
url: [email protected]:ZebraDevs/fetch_gazebo
version: gazebo11
GT-RAIL/robot_pose_publisher:
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which launch file uses this node? https://github.com/search?q=repo%3AZebraDevs%2Ffetch_gazebo%20robot_pose_publisher&type=code

type: git
url: [email protected]:GT-RAIL/robot_pose_publisher
version: develop
2 changes: 2 additions & 0 deletions jsk_fetch_robot/jsk_fetch_startup/launch/gazebo/fetch_gazebo_73b2.launch
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Expand Up @@ -3,6 +3,7 @@
<arg name="INITIAL_POSE_Y" default="0.0" />
<arg name="INITIAL_POSE_Z" default="0.0" />
<arg name="INITIAL_POSE_YAW" default="0.0" />
<arg name="launch_move_base" default="false" />

<include file="$(find jsk_fetch_startup)/launch/fetch_gazebo_bringup.launch">
<arg name="world" value="$(find eusurdf)/worlds/room73b2.world" />
Expand All @@ -11,6 +12,7 @@
<arg name="INITIAL_POSE_Y" value="$(arg INITIAL_POSE_Y)" />
<arg name="INITIAL_POSE_Z" value="$(arg INITIAL_POSE_Z)" />
<arg name="INITIAL_POSE_YAW" value="$(arg INITIAL_POSE_YAW)" />
<arg name="launch_move_base" default="$(arg launch_move_base)" />
</include>

<node name="initial_pose_publisher" output="screen"
Expand Down
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