RTT Gazebo Embedded Component

Simple Gazebo stand alone object wrapped in an orocos component.

Design

A gazebo instance is launched with the RTTGazeboEmbedded component, which allows any components living in the same deployer to access the gazebo API (get world, model, time etc).

In your own TaskContext, you can (for example) bind those two functions :

gazebo::event::Events::ConnectWorldUpdateBegin(std::bind(&MyModel::WorldUpdateBegin,this));

gazebo::event::Events::ConnectWorldUpdateEnd(std::bind(&MyModel::WorldUpdateEnd,this));

And you'll get updates at each gazebo timestep. Take a look at the example/ component for a demo.

Tutorial

You can launch the demo in examples/ : cd examples; ./gz_test.ops

#!/usr/bin/env deployer

import("rtt_gazebo_embedded")

# Loading gazebo (this will start rosnode)
loadComponent("gazebo","RTTGazeboEmbedded")

# WorldUpdateBegin and End will be called by gazebo
setActivity("gazebo",0,10,ORO_SCHED_OTHER)

# This is optional
gazebo.argv = strings("--verbose","--record_encoding=zlib")

# Load the world file (ex pr2 model, but it can be "worlds/empty.world" also)
gazebo.world_path = "/usr/share/gazebo-7/worlds/pr2.world"

# Load the ROS plugins
gazebo.addPlugin("libgazebo_ros_paths_plugin.so")
gazebo.addPlugin("libgazebo_ros_api_plugin.so")


gazebo.configure()

gazebo.start()

# If your model is not already loaded, you can spawn it like this :
# rosrun gazebo_ros spawn_model -param robot_description -urdf -model my_model


# Loading the model interface

import("rtt_gazebo_embedded")

# The component is also aperiodic,
# WorldUpdateBegin and End will be called by gazebo

loadComponent("pr2","ModelPluginExample")
connectPeers("pr2","gazebo")

# Get the gazebo model, timeout 10s
# By default, the name of the orocos component
# should be the name of the loaded model

pr2.configure()

pr2.start()