id stringlengths 15 54 | text stringlengths 3 133k | title stringclasses 1
value |
|---|---|---|
access_urdf/Transmission_14.txt |
1 <transmission name="simple_trans">
2 <type>transmission_interface/SimpleTransmission</type>
3 <joint name="foo_joint">
4 <hardwareInterface>EffortJointInterface</hardwareInterface>
5 </joint>
6 <actuator name="foo_motor">
7 <mechanicalReductio... | |
access_urdf/myroboticmanipulator_114.txt | the construct | |
access_urdf/myroboticmanipulator_68.txt | In order to put it back to the original position, execute the command below: | |
access_urdf/myroboticmanipulator_126.txt | Become a ROS Instructor | |
access_urdf/tutorialstutroscontr_110.txt | ## Connect Rviz to Gazebo Simulation | |
access_urdf/tutorialstutroscontr_12.txt | ## Data flow of ros_control and Gazebo | |
access_urdf/tutorialstutroscontr_30.txt | ### Default gazebo_ros_control Behavior | |
access_urdf/myroboticmanipulator_82.txt | ### Check Out These Related Posts | |
access_urdf/myroboticmanipulator_41.txt | Still on the same file, let’s add to the end of the description the **tags**
related to **gazebo controller plugin** . | |
access_urdf/tutorialstutroscontr_121.txt | Gazebo is open-source licensed under [ Apache 2.0
](http://www.apache.org/licenses/LICENSE-2.0.html) | |
access_urdf/tutorialstutroscontr_84.txt | Then press the green plus sign button at the top right. | |
access_urdf/myroboticmanipulator_64.txt | As a final test, let’s send a reference to the second joint: | |
access_urdf/tutorialstutroscontr_29.txt | * ` <robotNamespace> ` : The ROS namespace to be used for this instance of the plugin, defaults to robot name in URDF/SDF
* ` <controlPeriod> ` : The period of the controller update (in seconds), defaults to Gazebo's period
* ` <robotParam> ` : The location of the robot_description (URDF) on the parameter serve... | |
access_urdf/myroboticmanipulator_45.txt | This is something necessary for the gazebo controller, we must define some
control variables (PID) to apply to our transmissions. | |
access_urdf/myroboticmanipulator_13.txt | It turns out we have a very complex robot, with 6 links and 5 joints. I want
to make it simpler in order to show how to use gazebo controller plugin. | |
access_urdf/myroboticmanipulator_87.txt | [ read more ](https://www.theconstruct.ai/become-robotics-developer/) | |
access_urdf/Transmission_13.txt | Here is an example of a transmission element: | |
access_urdf/myroboticmanipulator_104.txt | Website | |
access_urdf/myroboticmanipulator_85.txt | May 26, 2018 | |
access_urdf/myroboticmanipulator_4.txt | 
 | |
access_urdf/tutorialstutroscontr_51.txt |
rrbot:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
joint1_position_controller:
... | |
access_urdf/myroboticmanipulator_98.txt | # 0 Comments | |
access_urdf/709_6.txt | controls/ros2_control/pull/709/files/45ffceebb1c4519730b317b0edb3024584899af2)
anfemosa approved these changes
[ 
](/aprotyas) [ aprotyas ](/aprotyas) [ ](/ros-
controls/ros2_control/pull/709/files/45ffceebb1c4519730b317b0edb3024584899af2)
aprotyas... | |
access_urdf/tutorialstutroscontr_103.txt | Finally, we'll use [ dynamic reconfigure
](http://ros.org/wiki/dynamic_reconfigure) to tune the proportional,
derivative, and integral gains of the PID controller, assuming this is
applicable to your robot. | |
access_urdf/myroboticmanipulator_89.txt | ## [ Speed Up Data Processing with Multi-Threaded Execution
](https://www.theconstruct.ai/speed-up-data-processing-with-multi-threaded-
execution-english-ros2-tutorial/) | |
access_urdf/myroboticmanipulator_53.txt | It goes like: | |
access_urdf/tutorialstutroscontr_20.txt | To use ros_control with your robot, you need to add some additional elements
to your URDF. The ` <transmission> ` element is used to link actuators to
joints, see the [ ` <transmission> ` spec
](http://ros.org/wiki/urdf/XML/Transmission) for exact XML format. | |
access_urdf/Transmission_10.txt | 1. URDF Transmissions
1. <transmission> Attributes
2. <transmission> Elements
3. Development Notes | |
access_urdf/myroboticmanipulator_17.txt | mass="18.056"
ixx="0.479" ixy="0" ixz="0"
iyy="0.479" iyz="0"
izz="0.204"
radius="0.15" length="0.25" />
-->
<!-- END - Robot description -->
</robot> | |
access_urdf/myroboticmanipulator_14.txt | Let’s start opening the file **mrm.xacro** and comment leave only the first
links of the robot (the rest, we will comment). It will look like below: | |
access_urdf/tutorialstutroscontr_1.txt | * [ Tutorials ](/tutorials)
* [ Download ](/download)
* [ Blog ](/blog.html)
* [ Media ](/media)
* [ Projects ](/projects) | |
access_urdf/myroboticmanipulator_43.txt |
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
</plugin>
</gazebo> | |
access_urdf/tutorialstutroscontr_55.txt |
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner... | |
access_urdf/myroboticmanipulator_138.txt | The Construct is the official ROS training provider for | |
access_urdf/tutorialstutroscontr_27.txt |
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/MYROBOT</robotNamespace>
</plugin>
</gazebo>
| |
access_urdf/myroboticmanipulator_38.txt | Further, the **actuator type** , which is an **Effort Joint Interface** , in
this case. And the **mechanical reduction** . | |
access_urdf/tutorialstutroscontr_93.txt | ### Visualize the controller's performance | |
access_urdf/Transmission_2.txt | The ROS Wiki is for ROS 1. Are you using ROS 2 ( [ Humble
](http://docs.ros.org/en/humble/) , [ Iron ](http://docs.ros.org/en/iron/) ,
or [ Rolling ](http://docs.ros.org/en/rolling/) )?
[ Check out the ROS 2 Project Documentation ](http://docs.ros.org)
Package specific documentation can be found on [ index.ros.org
... | |
access_urdf/tutorialstutroscontr_120.txt | ©2014 Open Source Robotics Foundation | |
access_urdf/myroboticmanipulator_103.txt | Email | |
access_urdf/tutorialstutroscontr_64.txt | Load the controllers for the two joints by running the second launch file: | |
access_urdf/tutorialstutroscontr_72.txt | Stop the controllers: | |
access_urdf/myroboticmanipulator_117.txt | Rosbotics Ambassador | |
access_urdf/tutorialstutroscontr_80.txt |
rosrun rqt_gui rqt_gui
| |
access_urdf/myroboticmanipulator_116.txt | For Enterprise | |
access_urdf/ur5transmissionxacro_0.txt | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | |
access_urdf/tutorialstutroscontr_40.txt | We add a ` <transmission> ` block similar to the following for every joint
that we wish to have Gazebo actuate. Note that the ` <hardwareInterface> `
must be included in both the ` <joint> ` and ` <actuator> ` tags (see [
ros_control issue here ](https://github.com/ros-
controls/ros_control/issues/177) ). Open your ` r... | |
access_urdf/tutorialstutroscontr_99.txt | Your screen should look something like this: | |
access_urdf/myroboticmanipulator_44.txt | ## Step 5 – Describe controller YAML file | |
access_urdf/tutorialstutroscontr_68.txt | Load the controllers: | |
access_urdf/Transmission_12.txt | The transmission element is an extension to the [ URDF ](/urdf/XML) robot
description model that is used to describe the relationship between an
actuator and a joint. This allows one to model concepts such as gear ratios
and parallel linkages. A transmission transforms efforts/flow variables such
that their product - p... | |
access_urdf/myroboticmanipulator_136.txt | [ Privacy Policy ](https://www.theconstruct.ai/privacy_policy/) [
](https://www.theconstruct.ai/privacy_policy/) | |
teleopanel/layouthtml_47.txt | * * * | |
teleopanel/differenceinbuilddep_17.txt | In the [ ROS 2 tutorial for writing a simple pub/sub package
](https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Publisher-And-
Subscriber/#add-dependencies) , it says to add the following in the
package.xml file: | |
teleopanel/packagexml_37.txt | These six types of dependencies are specified using the following respective
tags: | |
teleopanel/layouthtml1_49.txt |  | |
teleopanel/packagexml_89.txt |
<package>
<name>foo_core</name>
<version>1.2.4</version>
<description>
This package provides foo capability.
</description>
<maintainer email="ivana@willowgarage.com">Ivana Bildbotz</maintainer>
<license>BSD</license>
<url>http://ros.org/wiki/foo_core... | |
teleopanel/panelplugintutorialh_5.txt | sendvel() publishes the current velocity values to a ROS topic. Internally
this is connected to a timer which calls it 10 times per second.
void sendVel();
updateTopic() reads the topic name from the QLineEdit and calls setTopic()
with the result.
void updateTopic();
Then we fi... | |
teleopanel/layouthtml1_28.txt | [ QBoxLayout ](qboxlayout.html) | |
teleopanel/packagexml_1.txt | #### ROS 2 Documentation | |
teleopanel/layouthtml1_78.txt | Call [ QWidget::updateGeometry ](qwidget.html#updateGeometry) () whenever the
size hint, minimum size hint or size policy changes. This will cause a layout
recalculation. Multiple consecutive calls to [ QWidget::updateGeometry
](qwidget.html#updateGeometry) () will only cause one layout recalculation. | |
teleopanel/layouthtml_40.txt | Call [ QWidget::updateGeometry ](qwidget.html#updateGeometry) () whenever the
size hint, minimum size hint or size policy changes. This will cause a layout
recalculation. Multiple calls to updateGeometry() will only cause one
recalculation. | |
teleopanel/layouthtml_8.txt | * A [ QHBox ](qhbox.html) lays out its child widgets in a horizontal row, left to right. | |
teleopanel/layouthtml1_84.txt | In certain cases the parent layout is put into [ QLayout::FreeResize
](qlayout.html#SizeConstraint-enum) mode, meaning that it will not adapt the
layout of its contents to fit inside small sized windows, or even prevent the
user from making the window too small to be usable. This can be overcome by
subclassing the prob... | |
teleopanel/layouthtml_7.txt | The easiest way to give your widgets a good layout is to use the layout
widgets: [ QHBox ](qhbox.html) , [ QVBox ](qvbox.html) and [ QGrid
](qgrid.html) . A layout widget automatically lays out its child widgets in
the order they are constructed. To create more complex layouts, you can nest
layout widgets inside each o... | |
teleopanel/layouthtml1_47.txt |  | |
teleopanel/packagexml_64.txt | Each package.xml file has the ` <package> ` tag as the root tag in the
document. | |
teleopanel/packagexml_77.txt | * **Build Tool Dependencies** specify build system tools which this package needs to build itself. Typically the only build tool needed is catkin. In a cross-compilation scenario build tool dependencies are for the architecture on which the compilation is performed. | |
teleopanel/layouthtml_41.txt | If the preferred height of your widget depends on its actual width (e.g. a
label with automatic word-breaking), set the [ hasHeightForWidth
](qsizepolicy.html#hasHeightForWidth) () flag in [ sizePolicy
](qwidget.html#sizePolicy) (), and reimplement [ QWidget::heightForWidth
](qwidget.html#heightForWidth) (). | |
teleopanel/panelplugintutorialh_24.txt | Building the Plugin ¶
To build the plugin, just do the normal “rosmake” thing:
rosmake rviz_plugin_tutorials
| |
teleopanel/packagexml_8.txt | * [ Login ](/action/login/catkin/package.xml?action=login) | |
teleopanel/differenceinbuilddep_64.txt | [ about ](/about/) | [ faq ](/faq/) | [ help ](/help/ "help") | [ privacy
policy ](/privacy/) | [ terms of service ](/terms/) | |
teleopanel/differenceinbuilddep_37.txt | [ **answered 2020-03-25 11:14:23 -0500 ** ](/answers/347531/revisions/) | |
teleopanel/panelplugintutorialh_22.txt | void DriveWidget::mouseReleaseEvent( QMouseEvent* event )
{
stop();
}
Compute and emit linear and angular velocities based on Y and X mouse
positions relative to the central square.
void DriveWidget::sendVelocitiesFromMouse( int x, int y, int width, int height )
{
int si... | |
teleopanel/layouthtml1_95.txt | ### The Header File ( ` card.h ` ) | |
teleopanel/differenceinbuilddep_36.txt | Sort by » [ oldest ](/question/347516/difference-in-build_depend-in-package-
format-3-vs-package-format-2/?sort=oldest#sort-top) [ newest
](/question/347516/difference-in-build_depend-in-package-format-3-vs-package-
format-2/?sort=latest#sort-top) [ most voted ](/question/347516/difference-
in-build_depend-in-packag... | |
teleopanel/packagexml_40.txt | * ` <build_export_depend> ` | |
teleopanel/differenceinbuilddep_24.txt | Semantic of ` build_depend ` did not change between package format 2 and
format 3. | |
teleopanel/packagexml_27.txt | As an example, here is package manifest for a fictional package called
_foo_core_ . | |
teleopanel/packagexml_68.txt | * ` <name> ` \- The name of the package | |
teleopanel/layouthtml1_68.txt | 1. All the widgets will initially be allocated an amount of space in accordance with their [ QWidget::sizePolicy ](qwidget.html#sizePolicy-prop) () and [ QWidget::sizeHint ](qwidget.html#sizeHint-prop) ().
2. If any of the widgets have stretch factors set, with a value greater than zero, then they are allocated sp... | |
teleopanel/panelplugintutorialh_19.txt | {
angle += delta_angle / 2;
float next_cx = cx + step_dist * cosf( angle );
float next_cy = cy - step_dist * sinf( angle );
angle += delta_angle / 2;
left_track[ step ].setX( next_cx + half_track_width * cosf( angle + M_PI/2 ));
left_track[ step ].setY( next_cy - half_track_... | |
teleopanel/layouthtml1_76.txt | When you make your own widget class, you should also communicate its layout
properties. If the widget has a one of Qt's layouts, this is already taken
care of. If the widget does not have any child widgets, or uses manual layout,
you can change the behavior of the widget using any or all of the following
mechanisms: | |
teleopanel/layouthtml1_83.txt | The use of rich text in a label widget can introduce some problems to the
layout of its parent widget. Problems occur due to the way rich text is
handled by Qt's layout managers when the label is word wrapped. | |
teleopanel/packagexml_19.txt |
<package format="2">
</package> | |
teleopanel/layouthtml1_64.txt | **Note:** Widgets in a layout are children of the widget on which the layout
is installed, _not_ of the layout itself. Widgets can only have other widgets
as parent, not layouts. | |
teleopanel/layouthtml1_18.txt | ### Contents | |
teleopanel/packagexml_31.txt | * **Build Dependencies** specify which packages are needed to build this package. This is the case when any file from these packages is required at build time. This can be including headers from these packages at compilation time, linking against libraries from these packages or requiring any other resource at build ... | |
teleopanel/panelplugintutorialh_29.txt | Next Steps ¶
This Teleop panel might be useful as it is, since it already sends out command
velocities appropriate for a diff-drive robot. However, there are a few things
which might make it more useful:
* Adjustable scaling of the linear and angular velocities.
* Enforced maxima for the velocities.
* An ... | |
teleopanel/layouthtml1_6.txt | Close | |
teleopanel/panelplugintutorialh_10.txt |
void TeleopPanel::setTopic( const QString& new_topic )
{
Only take action if the name has changed.
if( new_topic != output_topic_ )
{
output_topic_ = new_topic;
If the topic is the empty string, don’t publish anything.
if( output_topic_ == "" )
{... | |
teleopanel/layouthtml1_24.txt | All [ QWidget ](qwidget.html) subclasses can use layouts to manage their
children. The [ QWidget::setLayout ](qwidget.html#setLayout) () function
applies a layout to a widget. When a layout is set on a widget in this way, it
takes charge of the following tasks: | |
teleopanel/differenceinbuilddep_56.txt | [ Wrong constructor in ROS2 ](/question/330243/wrong-constructor-in-ros2/) | |
teleopanel/packagexml_106.txt | Except where otherwise noted, the ROS wiki is licensed under the
[ Creative Commons Attribution 3.0
](http://creativecommons.org/licenses/by/3.0/) | |
teleopanel/differenceinbuilddep_23.txt | ## Comments | |
teleopanel/packagexml_86.txt | All packages have at least one dependency, a build tool dependency on catkin
as the following example shows. | |
teleopanel/layouthtml1_114.txt | [ Widgets and Layouts ](widgets-and-layouts.html) [ Styles ](style-
reference.html) | |
teleopanel/differenceinbuilddep_54.txt | [ ROS2 Bag - DB3 CDR Deserialization ](/question/346934/ros2-bag-db3-cdr-
deserialization/) | |
teleopanel/packagexml_101.txt | ### Additional Tags | |
teleopanel/layouthtml_48.txt | Copyright © 2003 [ Trolltech ](http://www.trolltech.com/) | [ Trademarks
](http://www.trolltech.com/trademarks.html) | |
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