corlab/rtt-gazebo-ur5-integration

RTT-Gazebo components for Universal Robots UR5

rtt-gazebo-ur5-integration

RTT-Gazebo components for Universal Robots UR5

• Based on: http://cogimon.github.io/software/gettingstarted.html
• Consider bash configurations for environment variables
• Don't forget to check or set up rsb.conf settings in $HOME/.config

start gz server

./gzserver -s $PREFIX/lib/orocos/gnulinux/rtt_gazebo_system/librtt_gazebo_system.so $PREFIX/etc/cogimon-scenarios/scenario-wipe-board/world/scn-wipe-board-empty.world

start gz client

./gzclient

load robot urdf model

$PREFIX/bin/rsb-toolscl0.13 call 'socket:/GazeboDeployerWorldPlugin/spawnModel("/homes/yourName/workspace/cogimon-gazebo-models/universal-robot-ur5/ur5robot.urdf")'

start orocos component

./rsb-toolscl0.13 call -l $PREFIX/share/rst0.13/proto/sandbox/rst/cogimon/ModelComponentConfig.proto 'socket:/GazeboDeployerWorldPlugin/deployRTTComponentWithModel(pb:.rst.cogimon.ModelComponentConfig:{component_name:"ur5_gazebo" component_type:"UR5RttGazeboComponent" component_package:"rtt-gazebo-ur5-integration" model_name:"universal-robot-ur5" script:"/homes/yourName/workspace/rtt-gazebo-ur5-integration/scripts/ur5.ops"})'

• component_name:"ur5_gazebo" any name you use in your (ops) script
• component_type:"UR5RttGazeboComponent" component class name
• component_package:"rtt-gazebo-ur5-integration" package containing the component, e.g. project folder name
• model_name:"universal-robot-ur5" name of the pre-loaded (gazebo)model to attach
• script:"...." ops or lua script to apply further configurations