From fc48544bd2d73ee7bd60bc4bb81fb2bc63108bb0 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Wed, 3 Jun 2020 10:30:16 +0200 Subject: [PATCH] show collision box object in gazebo --- launch/sample_constraint_simulation.launch | 2 ++ models/box.xacro | 40 ++++++++++++++++++++++ 2 files changed, 42 insertions(+) create mode 100644 models/box.xacro diff --git a/launch/sample_constraint_simulation.launch b/launch/sample_constraint_simulation.launch index 6b03481..848130f 100644 --- a/launch/sample_constraint_simulation.launch +++ b/launch/sample_constraint_simulation.launch @@ -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" /> diff --git a/models/box.xacro b/models/box.xacro new file mode 100644 index 0000000..360e023 --- /dev/null +++ b/models/box.xacro @@ -0,0 +1,40 @@ +<?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 -- GitLab