This repository demonstrates the usage of actor and related plugins in Gazebo.
Move, animate, interact with robot with actor now!
- You are running ROS Melodic
- You are running Gazebo Version 9
- You are on a Linux machine (e.g. Ubuntu18.04)
Follow the sdf format below to add an actor in Gazebo world.
Note that animated models have no collision model nor does it interact with gravity.
This example is taken from servicesim_competition.
For more detail please refer to official Gazebo page.
<actor name="number5">
<!-- Actor visual model -->
<include>
<uri>model://number5</uri>
</include>
<!-- Actor motion -->
<script>
<loop>true</loop>
<auto_start>true</auto_start>
<trajectory id="0" type="square">
<waypoint>
<time>0.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>10.0</time>
<pose>-3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>20.0</time>
<pose>3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>30.0</time>
<pose>3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>40.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
</trajectory>
</script>
</actor>Follow the sdf format below to animate an actor in Gazebo world.
This example is take from servicesim_competition.
For more detail please refer to official Gazebo page.
<actor name="human_94763">
<!-- Starting pose, nice for when the world is reset -->
<pose>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</pose>
<!-- Actor visual model -->
<skin>
<filename>model://actor/meshes/SKIN_man_green_shirt.dae</filename>
</skin>
<!-- Actor animation -->
<animation name="animation">
<filename>model://actor/meshes/ANIMATION_walking.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
<!-- Actor motion -->
<script>
<loop>true</loop>
<auto_start>true</auto_start>
<trajectory id="0" type="square">
<waypoint>
<time>0.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>10.0</time>
<pose>-3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>20.0</time>
<pose>3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>30.0</time>
<pose>3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>40.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
</trajectory>
</script>
</actor>Follow the sdf format below to animate an actor with plugins in Gazebo world.
The focus of the tutorial will be placed on human actors, therefore, I will only explain plugins that are related to human actors.
All the plugins can be found in service_competition.
For AutoActorPlugin, it can be found here.
Follow the sdf format below to add the related plugin to your actor.
This plugin will add a static model to your moving actor.
Here a box collision model is attached to the human actor.
<!-- Create a static collision model -->
<model name="human_94763_collision_model">
<pose>0 0 -100 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="link">
<pose>0 -0.18 0.05 0 -1.5707963267948966 0</pose>
<geometry>
<box>
<size>0.44 1.62 0.60</size>
</box>
</geometry>
</collision>
</link>
</model>
<!-- Create your actor -->
<actor name="human_94763">
<!-- Starting pose, nice for when the world is reset -->
<pose>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</pose>
<!-- Actor visual model -->
<skin>
<filename>model://actor/meshes/SKIN_man_green_shirt.dae</filename>
</skin>
<!-- Actor animation -->
<animation name="animation">
<filename>model://actor/meshes/ANIMATION_walking.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
<!-- Actor motion -->
<script>
<loop>true</loop>
<auto_start>true</auto_start>
<trajectory id="0" type="square">
<waypoint>
<time>0.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>10.0</time>
<pose>-3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>20.0</time>
<pose>3 3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>30.0</time>
<pose>3 -3 1 0 0 0</pose>
</waypoint>
<waypoint>
<time>40.0</time>
<pose>-3 -3 1 0 0 0</pose>
</waypoint>
</trajectory>
</script>
<!-- Actor Plugin -->
<!-- Enable collisions -->
<plugin name="attach_model" filename="libAttachModelPlugin.so">
<link>
<link_name>human_94763_pose</link_name>
<model>
<model_name>human_94763_collision_model</model_name>
</model>
</link>
</plugin>
</actor>Follow the sdf format below to add the related plugin to your actor.
This plugin will add a group of linked model to your moving actor.
<actor name="human_61866">
<!-- Starting pose, nice for when the world is reset -->
<pose>
-0.46
20.8
0.0
0.0
0.0
1.18
</pose>
<!-- Actor visual model -->
<skin>
<filename>model://actor/meshes/SKIN_man_green_shirt.dae</filename>
</skin>
<!-- Actor animation -->
<animation name="animation">
<filename>model://actor/meshes/ANIMATION_standing.dae</filename>
</animation>
<!-- Need one waypoint to idle at -->
<script>
<trajectory id='0' type='animation'>
<waypoint>
<time>100</time>
<pose>
-0.46
20.8
0.0
0.0
0.0
1.18
</pose>
</waypoint>
</trajectory>
</script>
<!-- Actor plugin -->
<!-- Enable collisions -->
<plugin name="actor_collisions_plugin" filename="libCollisionActorPlugin.so">
<scaling collision="LHipJoint_LeftUpLeg_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="LeftUpLeg_LeftLeg_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="LeftLeg_LeftFoot_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="LeftFoot_LeftToeBase_collision" scale="
4.0
4.0
1.5
"/>
<scaling collision="RHipJoint_RightUpLeg_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="RightUpLeg_RightLeg_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="RightLeg_RightFoot_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="RightFoot_RightToeBase_collision" scale="
4.0
4.0
1.5
"/>
<scaling collision="LowerBack_Spine_collision" scale="
12.0
20.0
5.0
" pose="0.05 0 0 0 -0.2 0"/>
<scaling collision="Spine_Spine1_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="Neck_Neck1_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="Neck1_Head_collision" scale="
5.0
5.0
3.0
"/>
<scaling collision="LeftShoulder_LeftArm_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="LeftArm_LeftForeArm_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="LeftForeArm_LeftHand_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="
4.0
4.0
3.0
"/>
<scaling collision="RightShoulder_RightArm_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="RightArm_RightForeArm_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="RightForeArm_RightHand_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="RightFingerBase_RightHandIndex1_collision" scale="
4.0
4.0
3.0
"/>
</plugin>
</actor>Follow the sdf format below to add trajectory plugin for your actor.
This plugin will move your actor according to your specify target and will stop moving when your robot is blocking its way.
Please specify your robot name at element.
<actor name="human_94763">
<!-- Starting pose, nice for when the world is reset -->
<pose>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</pose>
<!-- Actor visual model -->
<skin>
<filename>model://actor/meshes/SKIN_man_green_shirt.dae</filename>
</skin>
<!-- Actor animation -->
<animation name="animation">
<filename>model://actor/meshes/ANIMATION_walking.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
<!-- Actor plugin -->
<!-- Actor motion -->
<plugin name="trajectory" filename="libTrajectoryActorPlugin.so">
<target>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</target>
<target>
10.3737
3.89311
1.0
1.570796
-0.0
3.141593
</target>
<target>
7.96763
4.71297
1.0
1.570796
-0.0
3.141593
</target>
<target>
6.41362
5.11439
1.0
1.570796
-0.0
3.141593
</target>
<target>
6.32939
8.46126
1.0
1.570796
-0.0
3.141593
</target>
<target>
7.37067
9.849683
1.0
1.570796
-0.0
3.141593
</target>
<target>
10.5193
9.81355
1.0
1.570796
-0.0
3.141593
</target>
<target>
12.1611
8.39257
1.0
1.570796
-0.0
3.141593
</target>
<target>
13.1988
5.185326
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.704
5.185326
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.846853
7.988438
1.0
1.570796
-0.0
3.141593
</target>
<target>
16.0257
8.12129
1.0
1.570796
-0.0
3.141593
</target>
<target>
16.195299
1.99335
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.1699
1.91747
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.176
5.385326
1.0
1.570796
-0.0
3.141593
</target>
<velocity>1.0516294306711416</velocity>
<obstacle_margin>1.5</obstacle_margin>
<obstacle>my_robot_name</obstacle>
</plugin>
</actor>Please visit this repository for more information.
Follow the sdf format to add multiple plugins to your moving actor.
Here we will be adding the box collision model to a trajectory actor.
<!-- Create a static collision model -->
<model name="human_94763_collision_model">
<pose>0 0 -100 0 0 0</pose>
<static>true</static>
<link name="link">
<collision name="link">
<pose>0 -0.18 0.05 0 -1.5707963267948966 0</pose>
<geometry>
<box>
<size>0.44 1.62 0.60</size>
</box>
</geometry>
</collision>
</link>
</model>
<!-- Create your actor -->
<actor name="human_94763">
<!-- Starting pose, nice for when the world is reset -->
<pose>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</pose>
<!-- Actor visual model -->
<skin>
<filename>model://actor/meshes/SKIN_man_green_shirt.dae</filename>
</skin>
<!-- Actor animation -->
<animation name="animation">
<filename>model://actor/meshes/ANIMATION_walking.dae</filename>
<interpolate_x>true</interpolate_x>
</animation>
<!-- Actor plugin 1 -->
<!-- Actor motion -->
<plugin name="trajectory" filename="libTrajectoryActorPlugin.so">
<target>
12.1254
5.385326
1.0
1.570796
-0.0
3.141593
</target>
<target>
10.3737
3.89311
1.0
1.570796
-0.0
3.141593
</target>
<target>
7.96763
4.71297
1.0
1.570796
-0.0
3.141593
</target>
<target>
6.41362
5.11439
1.0
1.570796
-0.0
3.141593
</target>
<target>
6.32939
8.46126
1.0
1.570796
-0.0
3.141593
</target>
<target>
7.37067
9.849683
1.0
1.570796
-0.0
3.141593
</target>
<target>
10.5193
9.81355
1.0
1.570796
-0.0
3.141593
</target>
<target>
12.1611
8.39257
1.0
1.570796
-0.0
3.141593
</target>
<target>
13.1988
5.185326
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.704
5.185326
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.846853
7.988438
1.0
1.570796
-0.0
3.141593
</target>
<target>
16.0257
8.12129
1.0
1.570796
-0.0
3.141593
</target>
<target>
16.195299
1.99335
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.1699
1.91747
1.0
1.570796
-0.0
3.141593
</target>
<target>
14.176
5.385326
1.0
1.570796
-0.0
3.141593
</target>
<velocity>1.0516294306711416</velocity>
<obstacle_margin>1.5</obstacle_margin>
<obstacle>my_robot_name</obstacle>
</plugin>
<!-- Actor plugin 2 -->
<!-- Enable collisions -->
<plugin name="attach_model" filename="libAttachModelPlugin.so">
<link>
<link_name>human_94763_pose</link_name>
<model>
<model_name>human_94763_collision_model</model_name>
</model>
</link>
</plugin>
</actor>