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PR2 Plugins

This package contains dynamic plugins for Gazebo and ROS integration with simulated hardware.

• Plugin-Supported Hardware:

  • pr2_etherCAT/PR2 Controller Manager: provided by GazeboRosControllerManager.

  • Prosilica Camera: provided by GazeboRosProsilica.

  • Battery Power Monitor: provided by GazeboRosPowerMonitor.

• Unsupported Features:

  • Power Board Driver

Please see gazebo_plugins for additional supported hardware components in simulation.

Gazebo XML Plugin Configuration

gazebo_ros_controller_manager

Parameters

• <robotParam> (string, default: "robot_description")

  • Name of ROS parameter where robot description is stored.

  <robotNamespace> (string, default: "/")

  • Robot namespace.

Example

    <!-- GazeboMechanismControl -->
    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <robotParam>robot_description</robotParam>
      <robotNamespace>/</robotNamespace>
    </controller:gazebo_ros_controller_manager>

gazebo_ros_prosilica

GazeboRosProsilica plugin provides ROS topic and service interfaces similar to those provided by the Prosilica Camera hardware on PR2.

Parameters

• <robotNamespace> (string, default: "/")

  • Robot namespace.

  <imageTopicName> (string, default: "image_raw")

  • ROS topic name for publishing image.

  <cameraInfoTopicName> (string, default: "camera_info")

  • ROS topic name for publishing camera info.

  <pollServiceName> (string, default: "request_image")

  • ROS service name for polling.

  <frameName> (string, default: "")

  • Frame name of camera.

  <CxPrime> (integer, default: 320)

  • CxPrime

  <Cx> (integer, default: 320)

  • Cx

  <Cy> (integer, default: 240)

  • Cy

  <focal_length> (double, default: 554.256)

  • image_width(px) / (2*tan( hfov(radian) /2))

  <distortion_k1> (double, default: 0)

  • Distortion k1 value.

  <distortion_k2> (double, default: 0)

  • Distortion k2 value.

  <distortion_k3> (double, default: 0)

  • Distortion k3 value.

  <distortion_t1> (double, default: 0)

  • Distortion t1 value.

  <distortion_t2> (double, default: 0)

  • Distortion t2 value.

  <hackBaseline> (double, default: 0)

  • Hack for right stereo camera

Example

  <body:empty name="camera_body_name">
    <sensor:camera name="high_def_sensor">
      <imageFormat>R8G8B8</imageFormat>
      <imageSize>2448 2050</imageSize>
      <hfov>45</hfov>
      <nearClip>0.1</nearClip>
      <farClip>100</farClip>
      <updateRate>20.0</updateRate>
      <controller:gazebo_ros_prosilica name="high_def_controller" plugin="libgazebo_ros_prosilica.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>20.0</updateRate>
        <imageTopicName>/prosilica/image_raw</imageTopicName>
        <cameraInfoTopicName>/prosilica/camera_info</cameraInfoTopicName>
        <pollServiceName>/prosilica/request_image</pollServiceName>
        <frameName>high_def_frame</frameName>
        <CxPrime>1224.5</CxPrime>
        <Cx>1224.5</Cx>
        <Cy>1025.5</Cy>
        <focal_length>2955</focal_length> <!-- image_width / (2*tan(hfov_radian /2)) -->
        <distortion_k1>0.00000001</distortion_k1>
        <distortion_k2>0.00000001</distortion_k2>
        <distortion_k3>0.00000001</distortion_k3>
        <distortion_t1>0.00000001</distortion_t1>
        <distortion_t2>0.00000001</distortion_t2>
        <interface:camera name="high_def_iface"/>
      </controller:gazebo_ros_prosilica>
    </sensor:camera>
  </body:empty>

gazebo_ros_power_node

GazeboRosPowerNode plugin provides ROS topics and services similar to those provided by PR2 power monitor node on physical PR2.

Parameters

• <robotNamespace> (string, default: "/")

  • Robot namespace

  <powerStateTopic> (string, default: "power_state")

  • Topic to subscribe to power state on

  <powerStateRate> (double, default: 1.0)

  • Power state rate.

  <fullChargeCapacity> (double, default: 80.0)

  • Full charge capacity

  <chargeRate> (double, default: 500.0)

  • Charge rate

  <dischargeVoltage> (double, default: 16.0)

  • Discharge voltate

  <dischargeRate> (double, default: -500.0)

  • Discharge rate

  <chargeVoltage> (double, default: 16.0)

  • Charge voltage.

Example

    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>1.0</updateRate>
        <timeout>5</timeout>
        <interface:audio name="power_monitor_dummy_interface" />
        <powerStateTopic>power_state</powerStateTopic>
        <powerStateRate>10.0</powerStateRate>
        <fullChargeCapacity>87.78</fullChargeCapacity>
        <dischargeRate>-474</dischargeRate>
        <chargeRate>525</chargeRate>
        <dischargeVoltage>15.52</dischargeVoltage>
        <chargeVoltage>16.41</chargeVoltage>
    </controller:gazebo_ros_power_monitor>

ROS API

gazebo_ros_power_node

Gazebo plugin for simulating the PR2 power monitor.

Subscribed Topics

plugged_in (pr2_gazebo_plugins/PlugCommand)

• plugged in state

Published Topics

<powerStateTopic> (pr2_msgs/PowerState)

• simulated power state

gazebo_ros_prosilica_node

Gazebo plugin for simulating the prosilica camera. This follows the standard ROS API for camera drivers.

Published Topics

<imageTopicName> (sensor_msgs/Image)

• Camera image

<cameraInfoTopicName> (sensor_msgs/CameraInfo)

• Camera info

Services

request_image (polled_camera/GetPolledImage)

• (Polled Mode Only) Captures an image and publishes it in the namespace specified by the request message. Returns the timestamp.

gazebo_ros_controller_manager

GazeboRosControllerManager plugin provides similar ROS interface as pr2_etherCAT on the physical PR2 robot. This plugin is written in a way that PR2 controller manager works transparently with either this simulated plugin or the pr2_etherCAT hardware. For more information on using generic controllers or PR2 specific controllers with this plugin, please see pr2_controller_manager.

Tutorials

Roadmap

This stack will be updated with new features as the PR2 hardware itself is updated. Future versions will also incorporate dynamic_reconfigure options to match ORS driver functionality.