Only released in EOL distros:   jade kinetic

Description

This package provides all the necessary URDF model extensions, worlds and launch files for successfully simulating RoboSavvy's self-balance platform.

On rsv_balance_gazebo package we have available 3 worlds:

1. empty.world - Empty world with only the robot.

    roslaunch rsv_balance_gazebo simulation_empty.launch

2. ramp.world - Robot on inclined, flat terrain.

    roslaunch rsv_balance_gazebo simulation_ramp.launch

3. terrain.world - Robot on bumpy terrain.

    roslaunch rsv_balance_gazebo simulation_terrain.launch

As you can understand from the spawned robot, the demo model includes a dummy, spherical, 5kg load at about 1m height from the center of the platform.

It also provides RVIZ configured launchfile:

roslaunch rsv_balance_gazebo view.launch

Gazebo plugin node

The Gazebo model plugin was developed to expose the same ROS interface of topics and services as the real platform.

libgazebo_rsv_balance.so

Subscribed Topics

• Velocity command input for differential drive type vehicle.

• Equilibrium point for the current state of the vehicle

Published Topics

• Publishes vehicle odometry

• Publishes self-balance control state

• Outputs wheel joint states if desired.

• Outputs odom and wheel transforms if desired

Services Called

• Service to set platform's operation mode.

• Service to set which input commands the vehicle. Not used in simulation.

• Service to reset odometry.

• Service to disable RC override. Not used in simulation.

Plugin parameters

Example configuration to include in your URDF model.

   1 <plugin name="rsv_balance_controller" filename="libgazebo_rsv_balance.so">
   2   <rosDebugLevel>Debug</rosDebugLevel>
   3   <!--<robotNamespace></robotNamespace>-->
   4   <commandTopic>cmd_vel</commandTopic>
   5   <baseFrameId>base_link</baseFrameId>
   6   <publishOdomTF>true</publishOdomTF>
   7   <odomFrameId>odom</odomFrameId>
   8   <odomSource>world</odomSource>
   9   <odomTopic>odom</odomTopic>
  10   <publishWheelJointState>true</publishWheelJointState>
  11   <!-- Platform specific configurations -->
  12   <startMode>balance</startMode>
  13   <publishState>true</publishState>
  14   <publishStateRate>1</publishStateRate>
  15   <publishDiagnosticsRate>1</publishDiagnosticsRate>
  16   <wheelSeparation>${base_width+2.*wheel_width/2.}</wheelSeparation>
  17   <wheelRadius>${wheel_radius}</wheelRadius>
  18   <leftJoint>base_to_left_wheel</leftJoint>
  19   <rightJoint>base_to_right_wheel</rightJoint>   
  20   <!-- Control specific configurations -->
  21   <updateRate>100</updateRate>
  22 </plugin>

Parameters

• Robot's namespace

• Name for the velocity command topic

• Does the node publish odom tf?

• Base frame ID.

• Odometry frame ID.

• Odometry source. Odometry is computed from encoders or taken directly from world.

• Name for the odometry topic

• Does the node publish wheel joint state?

• Starting operation mode.

• Does the node publish self-balance control state?

• Rate for publishing self-balance control state.

• Rate for self-balance control loop.