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attempt to add contact sensor #26

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4bd279d
attempt to add contact sensor
ijnek Jul 11, 2023
3dba954
more changes
ijnek Jul 20, 2023
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11 changes: 7 additions & 4 deletions walk_bot/launch/gazebo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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',
Expand Down Expand Up @@ -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())

Expand All @@ -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',
],
)

Expand All @@ -108,7 +111,7 @@ def generate_launch_description():
xacro_path_arg,
z_arg,
gazebo,
create_node,
# create_node,
bridge,
joint_command_bridge,
])
34 changes: 34 additions & 0 deletions walk_bot/urdf/walk_bot.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -290,7 +290,41 @@
<limit effort="20.0" lower="-3.14" upper="3.14" velocity="2.0"/>
</joint>

<gazebo reference="l_sole">
<sensor name="sensor_contact" type="contact">
<contact>
<collision>l_sole_collision</collision>
<topic>/l_sole_contact</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<plugin
filename="ignition-gazebo-contact-system"
name="ignition::gazebo::systems::Contact"/>
</sensor>
</gazebo>

<gazebo reference="r_sole">
<sensor name="sensor_contact" type="contact">
<contact>
<collision>r_sole_collision</collision>
<topic>/r_sole_contact</topic>
</contact>
<always_on>1</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<plugin
filename="ignition-gazebo-contact-system"
name="ignition::gazebo::systems::Contact"/>
</sensor>
</gazebo>

<gazebo>
<plugin
filename="ignition-gazebo-contact-system"
name="ignition::gazebo::systems::Contact"/>

<plugin
filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
Expand Down
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