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Fix roslaunch pepper_gazebo warnings #48

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Fix roslaunch pepper_gazebo warnings #48

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47240f9
Update pepperGazebo.xacro
mingfeisun Mar 12, 2018
6e54bdc
fix the pepper drifting problem
mingfeisun Mar 20, 2018
8f50c70
Removed link to world
dcam0050 May 19, 2018
7a0def7
Fixed warnings while launching pepper gazebo
dcam0050 May 19, 2018
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10 changes: 9 additions & 1 deletion pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -724,6 +724,7 @@
<gazebo>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<legacyMode>false</legacyMode>
<updateRate>100</updateRate>
<robotNamespace>/</robotNamespace>
<leftJoint>WheelFL</leftJoint>
Expand All @@ -734,7 +735,14 @@
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom_diffdrive</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<odometrySource>world</odometrySource>
<publishTf>1</publishTf>
<rosDebugLevel>na</rosDebugLevel>
<wheelAcceleration>0</wheelAcceleration>
<wheelTorque>5</wheelTorque>
<robotBaseFrame>base_link</robotBaseFrame>
<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>false</publishWheelJointState>
</plugin>
</gazebo>
</robot>
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48 changes: 24 additions & 24 deletions pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -14,22 +14,22 @@
<transmission name="HeadYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HeadYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HeadYaw_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="HeadPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HeadPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HeadPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
</actuator>
</transmission>
Expand All @@ -39,61 +39,61 @@
<transmission name="${side}ShoulderPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}ShoulderPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}ShoulderPitch_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}ShoulderRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}ShoulderRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}ShoulderRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}ElbowYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}ElbowYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}ElbowYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type1A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}ElbowRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}ElbowRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}ElbowRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${side}WristYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}WristYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}WristYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${side}Hand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${side}Hand">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${side}Hand_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type3B}</mechanicalReduction>
</actuator>
</transmission>
Expand All @@ -105,33 +105,33 @@
<transmission name="HipRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HipRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HipRoll_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type4A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="HipPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HipPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HipPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type5A}</mechanicalReduction>
</actuator>
</transmission>
<transmission name="KneePitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="KneePitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="KneePitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type5A}</mechanicalReduction>
</actuator>
</transmission>
Expand All @@ -141,11 +141,11 @@
<transmission name="Wheel${side}_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Wheel${side}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Wheel${side}_Motor">
<!-- Dummy Values -->
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>${speed_red_type5B}</mechanicalReduction>
</actuator>
</transmission>
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4 changes: 3 additions & 1 deletion pepper_description/urdf/pepper1.0_generated_urdf/pepper_torso.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@
<!--******************************************************************
****** File automatically generated by generate_urdf.py script ******
*********************************************************************-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">


<link name="base_link"/>
<joint name="base_link_fixedjoint" type="fixed">
<parent link="base_link"/>
Expand Down