Clone the repository to your project src folder and compile the project.
Add this to the end of your URDF/Xacro
<gazebo>
<plugin name="conveyor_belt_plugin" filename="libROSConveyorBeltPlugin.so">
<robot_namespace>/robot_ns</robot_namespace>
<link>belt_link</link>
<update_rate>10</update_rate>
<max_velocity>0.2</max_velocity>
</plugin>
</gazebo>The belt is active by default, with power of 0%.
You can change the belts linear velocity using the <max_velocity> parameter.
To set the power value, you need to use rosservice.
$ rosservice call /robot_ns/conveyor/control "power: 15.0"
This would set the power to 15%.
I have created a simple demo of the conveyor working. It can be found in rokokoo/conveyor_demo
Original source is the Open Source Robotics Foundations repository, called "Agile Robotics for Industrial Automation Competition", ARIAC
Original package created by:
I made a few edits to the source, that I left behind as comments. I don't know that much about writing plugins for Gazebo or ROS, but I hope this works for some.
Hannu Henttinen
Diff for src/ConveyorBeltPlugin.cc
diff --git a/ariac/osrf_gear/src/ConveyorBeltPlugin.cc b/gazebo-conveyor/src/ConveyorBeltPlugin.cc
index a722f1f..4494bb9 100644
--- a/ariac/osrf_gear/src/ConveyorBeltPlugin.cc
+++ b/gazebo-conveyor/src/ConveyorBeltPlugin.cc
@@ -116,9 +116,10 @@ void ConveyorBeltPlugin::OnUpdate()
// found an incorrect value in childLinkPose within
// Joint::SetPositionMaximal(). This workaround makes sure that the right
// numbers are always used in our scenario.
- const ignition::math::Pose3d childLinkPose(1.20997, 2.5998, 0.8126, 0, 0, -1.57);
- const ignition::math::Pose3d newChildLinkPose(1.20997, 2.98, 0.8126, 0, 0, -1.57);
- this->link->MoveFrame(childLinkPose, newChildLinkPose);
+ //const ignition::math::Pose3d childLinkPose(1.20997, 2.5998, 0.8126, 0, 0, -1.57);
+ //const ignition::math::Pose3d newChildLinkPose(1.20997, 2.98, 0.8126, 0, 0, -1.57);
+ //this->link->MoveFrame(childLinkPose, newChildLinkPose);
+ this->joint->SetPosition(0,0);
}
this->Publish();
@@ -186,4 +187,4 @@ void ConveyorBeltPlugin::OnEnabled(ConstGzStringPtr &_msg)
/////////////////////////////////////////////////
void ConveyorBeltPlugin::Publish() const
{
-}
+}
\ No newline at end of fileDiff for src/ROSConveyorBeltPlugin.cc
diff --git a/ariac/osrf_gear/src/ROSConveyorBeltPlugin.cc b/gazebo-conveyor/src/ROSConveyorBeltPlugin.cc
index a64db82..5735b19 100644
--- a/ariac/osrf_gear/src/ROSConveyorBeltPlugin.cc
+++ b/gazebo-conveyor/src/ROSConveyorBeltPlugin.cc
@@ -15,7 +15,7 @@
*
*/
#include "ROSConveyorBeltPlugin.hh"
-#include "osrf_gear/ConveyorBeltState.h"
+#include "gazebo_conveyor/ConveyorBeltState.h"
#include <cstdlib>
#include <string>
@@ -72,13 +72,13 @@ void ROSConveyorBeltPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf
// Message used for publishing the state of the conveyor.
this->statePub = this->rosnode_->advertise<
- osrf_gear::ConveyorBeltState>(stateTopic, 1000);
+ gazebo_conveyor::ConveyorBeltState>(stateTopic, 1000);
}
/////////////////////////////////////////////////
void ROSConveyorBeltPlugin::Publish() const
{
- osrf_gear::ConveyorBeltState stateMsg;
+ gazebo_conveyor::ConveyorBeltState stateMsg;
stateMsg.enabled = this->IsEnabled();
stateMsg.power = this->Power();
this->statePub.publish(stateMsg);
@@ -86,10 +86,10 @@ void ROSConveyorBeltPlugin::Publish() const
/////////////////////////////////////////////////
bool ROSConveyorBeltPlugin::OnControlCommand(ros::ServiceEvent<
- osrf_gear::ConveyorBeltControl::Request, osrf_gear::ConveyorBeltControl::Response> & event)
+ gazebo_conveyor::ConveyorBeltControl::Request, gazebo_conveyor::ConveyorBeltControl::Response> & event)
{
- const osrf_gear::ConveyorBeltControl::Request& req = event.getRequest();
- osrf_gear::ConveyorBeltControl::Response& res = event.getResponse();
+ const gazebo_conveyor::ConveyorBeltControl::Request& req = event.getRequest();
+ gazebo_conveyor::ConveyorBeltControl::Response& res = event.getResponse();
gzdbg << "Conveyor control service called with: " << req.power << std::endl;
const std::string& callerName = event.getCallerName();
@@ -122,9 +122,9 @@ bool ROSConveyorBeltPlugin::OnControlCommand(ros::ServiceEvent<
return true;
}
- if (!(0 == req.power || (req.power >= 50 && req.power <= 100)))
+ if (!(0 == req.power || req.power <= 100))
{
- std::string errStr = "Requested belt power is invalid. Accepted values are 0 or in the range [50, 100].";
+ std::string errStr = "Requested belt power is invalid. Accepted values are in the range [0, 100].";
gzerr << errStr << std::endl;
ROS_ERROR_STREAM(errStr);
res.success = false;Diff for include/ROSConveyorBeltPlugin.hh
diff --git a/ariac/osrf_gear/include/ROSConveyorBeltPlugin.hh b/gazebo-conveyor/include/ROSConveyorBeltPlugin.hh
index 3ade001..0ddf0fa 100644
--- a/ariac/osrf_gear/include/ROSConveyorBeltPlugin.hh
+++ b/gazebo-conveyor/include/ROSConveyorBeltPlugin.hh
@@ -24,7 +24,7 @@
#include "ConveyorBeltPlugin.hh"
// ROS
-#include <osrf_gear/ConveyorBeltControl.h>
+#include <gazebo_conveyor/ConveyorBeltControl.h>
#include <ros/ros.h>
namespace gazebo
@@ -47,8 +47,8 @@ namespace gazebo
/// \param[in] _req The desired state of the conveyor belt.
/// \param[in] _res If the service succeeded or not.
public: bool OnControlCommand(ros::ServiceEvent<
- osrf_gear::ConveyorBeltControl::Request,
- osrf_gear::ConveyorBeltControl::Response> & event);
+ gazebo_conveyor::ConveyorBeltControl::Request,
+ gazebo_conveyor::ConveyorBeltControl::Response> & event);
// Documentation inherited.
private: virtual void Publish() const;
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent