diff --git a/walk_bot/launch/gazebo.launch.py b/walk_bot/launch/gazebo.launch.py index dc5073d..00e3150 100644 --- a/walk_bot/launch/gazebo.launch.py +++ b/walk_bot/launch/gazebo.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): name='world', description='Path to the world file to open.', default_value=PathJoinSubstitution( - [FindPackageShare('walk_bot'), 'world', 'empty.sdf'])) + [FindPackageShare('walk_bot'), 'world', 'empty_walk_bot.sdf'])) gui_config_arg = DeclareLaunchArgument( name='gui_config', @@ -73,8 +73,8 @@ def generate_launch_description(): 'gz_args': [ '-r ', # Run simulation on start. LaunchConfiguration('world'), - ' --gui-config ', - LaunchConfiguration('gui_config'), + ' --gui-config ', LaunchConfiguration('gui_config'), + ' -v', '4', # Increase log level to debug ] }.items()) @@ -96,6 +96,9 @@ def generate_launch_description(): '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock', # Joint states (GZ -> ROS2) 'joint_states@sensor_msgs/msg/JointState[gz.msgs.Model', + # Contact sensor (GZ -> ROS2) + 'l_sole_contact@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts', + 'r_sole_contact@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts', ], ) @@ -108,7 +111,7 @@ def generate_launch_description(): xacro_path_arg, z_arg, gazebo, - create_node, + # create_node, bridge, joint_command_bridge, ]) diff --git a/walk_bot/urdf/walk_bot.urdf b/walk_bot/urdf/walk_bot.urdf index 82e16a1..e6fe73f 100644 --- a/walk_bot/urdf/walk_bot.urdf +++ b/walk_bot/urdf/walk_bot.urdf @@ -290,7 +290,41 @@ + + + + l_sole_collision + /l_sole_contact + + 1 + 100 + true + + + + + + + + r_sole_collision + /r_sole_contact + + 1 + 100 + true + + + + + + diff --git a/walk_bot/world/empty_walk_bot.sdf b/walk_bot/world/empty_walk_bot.sdf new file mode 100644 index 0000000..28daa1e --- /dev/null +++ b/walk_bot/world/empty_walk_bot.sdf @@ -0,0 +1,600 @@ + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Ground Plane + + + + + + 0 0 0 0 0 0 + 1 + + 0.00167 + 0 + 0 + 0.00167 + 0 + 0.00167 + + + + 0 0 0 0 0 0 + + + 0.1 0.1 0.1 + + + + + 0 0 0 0 0 0 + + + 0.1 0.1 0.1 + + + + + + 0 0 0 0 0 0 + dummy + l_hip1 + + 0 1 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + l_hip1 + l_hip2 + + 1 0 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + l_hip2 + l_ankle1 + + 0 0 -1 + + 0.20000000000000001 + 0.40000000000000002 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + l_ankle1 + l_ankle2 + + 0 0 1 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + l_ankle2 + l_ankle3 + + 0 1 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + l_ankle3 + l_sole + + 1 0 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.29999999999999999 + + 0.00072499999999999995 + 0 + 0 + 0.0062500000000000003 + 0 + 0.0057250000000000001 + + + + 0 0 0 0 0 0 + + + 0.15 0.05 0.02 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 0.15 0.05 0.02 + + + + + + l_sole_collision + /l_sole_contact + + true + 100 + true + + + + + 0 0 0 0 0 0 + dummy + r_hip1 + + 0 1 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + r_hip1 + r_hip2 + + 1 0 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + r_hip2 + r_ankle1 + + 0 0 -1 + + 0.20000000000000001 + 0.40000000000000002 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + r_ankle1 + r_ankle2 + + 0 0 1 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + r_ankle2 + r_ankle3 + + 0 1 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1.0000000000000001e-05 + 0 + 0 + 1.0000000000000001e-05 + 0 + 1.0000000000000001e-05 + + + + + 0 0 0 0 0 0 + r_ankle3 + r_sole + + 1 0 0 + + -3.1400000000000001 + 3.1400000000000001 + 20 + 2 + + + 0 + 0 + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.29999999999999999 + + 0.00072499999999999995 + 0 + 0 + 0.0062500000000000003 + 0 + 0.0057250000000000001 + + + + 0 0 0 0 0 0 + + + 0.15 0.05 0.02 + + + + + + + + + + + + + 0 0 0 0 0 0 + + + 0.15 0.05 0.02 + + + + + + r_sole_collision + /r_sole_contact + + true + 100 + true + + + + false + + joint_states + l_hip_pitch + r_hip_pitch + l_hip_roll + r_hip_roll + l_leg_extension + r_leg_extension + l_ankle_yaw + r_ankle_yaw + l_ankle_pitch + r_ankle_pitch + l_ankle_roll + r_ankle_roll + + + l_hip_pitch + 1000 + 0 + 0 + + + r_hip_pitch + 1000 + 0 + 0 + + + l_hip_roll + 1000 + 0 + 0 + + + r_hip_roll + 1000 + 0 + 0 + + + l_leg_extension + 1000 + 10 + 10 + + + r_leg_extension + 1000 + 10 + 10 + + + l_ankle_yaw + 100 + 0 + 0 + + + r_ankle_yaw + 100 + 0 + 0 + + + l_ankle_pitch + 100 + 0 + 0 + + + r_ankle_pitch + 100 + 0 + 0 + + + l_ankle_roll + 100 + 0 + 0 + + + r_ankle_roll + 100 + 0 + 0 + + + + + +