From 0a15d411ac859eedd72c1d342c16fcd2abb06156 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Tue, 11 Apr 2023 16:27:17 +0900 Subject: [PATCH 1/5] =?UTF-8?q?parameter=5Fbridge=E3=81=A8use=5Fsim=5Ftime?= =?UTF-8?q?=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_plus_examples/README.md | 8 ++++++++ crane_plus_examples/launch/example.launch.py | 13 ++++++++++++- .../launch/crane_plus_ignition.launch.py | 12 +++++++++++- 3 files changed, 31 insertions(+), 2 deletions(-) diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index a56659c..d4b6aa1 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -54,6 +54,14 @@ $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' 終了するときは`Ctrl+c`を入力します。 +### Gazeboでサンプルプログラムを実行する場合 + +Gazeboでサンプルプログラムを実行する場合は`use_sim_time`オプションを付けます。 + +```sh +ros2 launch crane_plus_examples example.launch.py example:='gripper_control' use_sim_time:='true' +``` + ## Examples `demo.launch.py`を実行している状態で各サンプルを実行できます。 diff --git a/crane_plus_examples/launch/example.launch.py b/crane_plus_examples/launch/example.launch.py index bb7c559..01ea634 100644 --- a/crane_plus_examples/launch/example.launch.py +++ b/crane_plus_examples/launch/example.launch.py @@ -20,6 +20,7 @@ from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node +from launch_ros.actions import SetParameter import yaml @@ -61,6 +62,11 @@ def generate_launch_description(): '[gripper_control, pose_groupstate, joint_values, pick_and_place]') ) + declare_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', default_value='false', + description=('Set true when using the gazebo simulator.') + ) + example_node = Node(name=[LaunchConfiguration('example'), '_node'], package='crane_plus_examples', executable=LaunchConfiguration('example'), @@ -69,4 +75,9 @@ def generate_launch_description(): robot_description_semantic, kinematics_yaml]) - return LaunchDescription([declare_example_name, example_node]) + return LaunchDescription([ + declare_use_sim_time, + SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')), + declare_example_name, + example_node + ]) diff --git a/crane_plus_ignition/launch/crane_plus_ignition.launch.py b/crane_plus_ignition/launch/crane_plus_ignition.launch.py index 9618bd7..8e0e208 100644 --- a/crane_plus_ignition/launch/crane_plus_ignition.launch.py +++ b/crane_plus_ignition/launch/crane_plus_ignition.launch.py @@ -21,6 +21,7 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node +from launch_ros.actions import SetParameter def generate_launch_description(): @@ -80,11 +81,20 @@ def generate_launch_description(): output='screen', ) + bridge = Node( + package='ros_ign_bridge', + executable='parameter_bridge', + arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'], + output='screen' + ) + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), ign_gazebo, move_group, ignition_spawn_entity, spawn_joint_state_controller, spawn_arm_controller, - spawn_gripper_controller + spawn_gripper_controller, + bridge ]) From 526faca250ff057017b175eb0ecb61fac4b18f49 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Fri, 28 Jul 2023 14:59:40 +0900 Subject: [PATCH 2/5] Update README --- crane_plus_examples/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index d4b6aa1..9e83c14 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -54,7 +54,7 @@ $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' 終了するときは`Ctrl+c`を入力します。 -### Gazeboでサンプルプログラムを実行する場合 +## Gazeboでサンプルプログラムを実行する場合 Gazeboでサンプルプログラムを実行する場合は`use_sim_time`オプションを付けます。 From bfe9bd6ee3519a605cd9b4687cb0f63b85bcc5b8 Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Fri, 28 Jul 2023 15:16:54 +0900 Subject: [PATCH 3/5] Update README --- crane_plus_examples/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index 9e83c14..b6f2bf1 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -59,7 +59,7 @@ $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' Gazeboでサンプルプログラムを実行する場合は`use_sim_time`オプションを付けます。 ```sh -ros2 launch crane_plus_examples example.launch.py example:='gripper_control' use_sim_time:='true' +$ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' use_sim_time:='true' ``` ## Examples From 866fd68e73f4949e101261f80081738cdaed0d73 Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Mon, 31 Jul 2023 17:45:32 +0900 Subject: [PATCH 4/5] Update README.md Co-authored-by: Shota Aoki --- crane_plus_examples/README.md | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index b6f2bf1..f7810cd 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -54,13 +54,12 @@ $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' 終了するときは`Ctrl+c`を入力します。 -## Gazeboでサンプルプログラムを実行する場合 +## Ignition Gazeboでサンプルプログラムを実行する場合 -Gazeboでサンプルプログラムを実行する場合は`use_sim_time`オプションを付けます。 +Ignition Gazeboでサンプルプログラムを実行する場合は`use_sim_time`オプションを付けます。 ```sh $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' use_sim_time:='true' -``` ## Examples From 06173dc778d972e7d82d91c581e4ff2189009d6c Mon Sep 17 00:00:00 2001 From: Kuwagata Date: Mon, 31 Jul 2023 17:51:32 +0900 Subject: [PATCH 5/5] Update README --- crane_plus_examples/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index f7810cd..2d9fe3d 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -60,6 +60,7 @@ Ignition Gazeboでサンプルプログラムを実行する場合は`use_sim_ti ```sh $ ros2 launch crane_plus_examples example.launch.py example:='gripper_control' use_sim_time:='true' +``` ## Examples