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CeTI
ROS
ROS Packages
sample_applications
Commits
fc48544b
Commit
fc48544b
authored
5 years ago
by
Johannes Mey
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show collision box object in gazebo
parent
2a454d57
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launch/sample_constraint_simulation.launch
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-0
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launch/sample_constraint_simulation.launch
models/box.xacro
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models/box.xacro
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launch/sample_constraint_simulation.launch
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fc48544b
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@@ -23,6 +23,8 @@
<!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
<param name="box_description" command="$(find xacro)/xacro --inorder $(find sample_applications)/models/box.xacro"/>
<node name="spawn_object" pkg="gazebo_ros" type="spawn_model" args="-param box_description -urdf -model box"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
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models/box.xacro
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fc48544b
<?xml version="1.0"?>
<robot
xmlns:xacro=
"http://www.ros.org/wiki/xacro"
name=
"simple_box"
>
<link
name=
"object_base_link"
>
</link>
<joint
name=
"object_base_joint"
type=
"fixed"
>
<parent
link=
"object_base_link"
/>
<child
link=
"object_link"
/>
<axis
xyz=
"0 0 1"
/>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
</joint>
<link
name=
"object_link"
>
<inertial>
<origin
xyz=
"0.4 -0.2 1.0"
/>
<mass
value=
"1.0"
/>
<inertia
ixx=
"1.0"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"100.0"
iyz=
"0.0"
izz=
"1.0"
/>
</inertial>
<visual>
<origin
xyz=
"0.4 -0.2 1.0"
/>
<geometry>
<box
size=
"0.4 0.1 0.4"
/>
</geometry>
</visual>
<collision>
<origin
xyz=
"0.4 -0.2 1.0"
/>
<geometry>
<box
size=
"0.4 0.1 0.4"
/>
</geometry>
</collision>
</link>
<gazebo
reference=
"object_base_link"
>
<gravity>
0
</gravity>
</gazebo>
<gazebo
reference=
"object_link"
>
<material>
Gazebo/Blue
</material>
</gazebo>
</robot>
\ No newline at end of file
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