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answered 2019-06-20 22:58:15 -0500

ugluo gravatar image

I have solved it

1) urdf I add ft_sensor in the foot <xacro:macro name="gazebo_pressure" params="prefix parent num x y z"> <link name="${prefix}_foot_sensor_m${num}" &gt;="" <inertial=""> <origin xyz="0 0 0" rpy="0 0 0"/> <mass value="0.01"/> <inertia ixx="0.000" ixy="0.000" ixz="0.000" iyy="0.000" iyz="0.000" izz="0.000"/> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.025 0.025 0.002"/> </geometry> <material name=""> <color rgba="0.75294 0.75294 0.75294 1"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.025 0.025 0.002"/> </geometry> </collision> </link> <joint name="${prefix}_foot_sensor_m${num}_j" type="revolute"> <origin xyz="${x} ${y} ${z}" rpy="0 0 0"/> <parent link="${parent}"/> <child link="${prefix}_foot_sensor_m${num}"/> <axis xyz="0 1 0"/> <limit effort="0" velocity="0" lower="-0.001" upper="0.001"/> </joint> <gazebo reference="${prefix}_foot_sensor_m${num}_j"> <providefeedback>true</providefeedback> </gazebo>

<gazebo> <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so"> <always_on>true</always_on> <updaterate>100.0</updaterate> <topicname>/leap_one/${prefix}_foot_sensor_m${num}</topicname> <jointname>${prefix}_foot_sensor_m${num}_j</jointname> </plugin> </gazebo>

<gazebo reference="${prefix}_foot_sensor_m${num}"> <material>Gazebo/Blue</material> <mu1>9000</mu1> <mu2>9000</mu2> <kp>1000000.0</kp> <kd>10.0</kd> <mindepth>0.001</mindepth> <maxcontacts>100</maxcontacts> </gazebo>

</xacro:macro>

<xacro:gazebo_pressure prefix="left" parent="left_m6" num="0" x="-0.03" y="-0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="left" parent="left_m6" num="1" x="0.03" y="-0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="left" parent="left_m6" num="2" x="-0.03" y="0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="left" parent="left_m6" num="3" x="0.03" y="0.03" z="-0.034"/>

<xacro:gazebo_pressure prefix="right" parent="right_m6" num="0" x="-0.03" y="-0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="right" parent="right_m6" num="1" x="0.03" y="-0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="right" parent="right_m6" num="2" x="-0.03" y="0.03" z="-0.034"/> <xacro:gazebo_pressure prefix="right" parent="right_m6" num="3" x="0.03" y="0.03" z="-0.034"/>

2) modify ros source code clone gazebo_ros_pkgs repository in github add one line in the gazebo_plugins/src/gazebo_ros_ft_sensor.cpp

//////////////////////////////////////////////////////////////////////////////// // Update the controller void GazeboRosFT::UpdateChild() {

if GAZEBO_MAJOR_VERSION >= 8

common::Time cur_time = this->world_->SimTime();

else

common::Time cur_time = this->world_->GetSimTime();

endif

// rate control if (this->update_rate_ > 0 && (cur_time-this->last_time_).Double() < (1.0/this->update_rate_)) { +++ if(cur_time.Double() >= 5) // ignore it when reset_simulation return; }

if (this->ft_connect_count_ == 0) return;

physics::JointWrench wrench; ignition::math::Vector3d torque; ignition::math::Vector3d force;

// FIXME: Should include options for diferent frames and measure directions // E.g: https://bitbucket.org/osrf/gazebo/raw/default/gazebo/sensors/ForceTorqueSensor.hh // Get force torque at the joint // The wrench is reported in the CHILD <frame> // The <measure_direction> is child_to_parent wrench = this->joint_->GetForceTorque(0);

if GAZEBO_MAJOR_VERSION >= 8

force = wrench.body2Force; torque = wrench.body2Torque;

else

force = wrench.body2Force.Ign(); torque = wrench.body2Torque.Ign();

endif

then catkin_make and cp devel/lib/libgazebo_ros_ft_sensor.so into /opt/ros/kinetic/lib/

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No.2 Revision

updated 2019-06-21 07:12:18 -0500

gvdhoorn gravatar image

I have solved it

1) urdf I add ft_sensor in the foot foot

 <xacro:macro name="gazebo_pressure" params="prefix parent num x y z">
    <link name="${prefix}_foot_sensor_m${num}" &gt;="" <inertial="">
      <origin >
    <inertial>
      <origin
        xyz="0 0 0" 0"
        rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.000" ixy="0.000" ixz="0.000" iyy="0.000" iyz="0.000" izz="0.000"/>
0" />
      <mass
        value="0.01" />
      <inertia
        ixx="0.000"
        ixy="0.000"
        ixz="0.000"
        iyy="0.000"
        iyz="0.000"
        izz="0.000" />
    </inertial>
    <visual>
      <origin <origin
        xyz="0 0 0" 0"
        rpy="0 0 0"/>
0" />
      <geometry>
        <box size="0.025 0.025 0.002"/>
      </geometry>
      <material <material
        name="">
        <color <color
          rgba="0.75294 0.75294 0.75294 1"/>
1" />
      </material>
    </visual>
    <collision>
      <origin <origin
        xyz="0 0 0" 0"
        rpy="0 0 0"/>
0" />
      <geometry>
        <box size="0.025 0.025 0.002"/>
      </geometry>
    </collision>
  </link>
<joint name="${prefix}_foot_sensor_m${num}_j" 
    name="${prefix}_foot_sensor_m${num}_j"
    type="revolute">
    <origin <origin
      xyz="${x} ${y} ${z}" ${z}"
      rpy="0 0 0"/>
    <parent link="${parent}"/>
    <child link="${prefix}_foot_sensor_m${num}"/>
    <axis 0" />
    <parent
      link="${parent}" />
    <child
      link="${prefix}_foot_sensor_m${num}" />
    <axis
      xyz="0 1 0"/>
0" />
    <limit effort="0" velocity="0" lower="-0.001" upper="0.001"/>
upper="0.001" />
  </joint>
  <gazebo reference="${prefix}_foot_sensor_m${num}_j">
    <providefeedback>true</providefeedback>
  </gazebo>
 
<provideFeedback>true</provideFeedback>
  </gazebo>

  <gazebo>
    <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
      <always_on>true</always_on>
      <updaterate>100.0</updaterate>
      <topicname>/leap_one/${prefix}_foot_sensor_m${num}</topicname>
      <jointname>${prefix}_foot_sensor_m${num}_j</jointname>
<updateRate>100.0</updateRate>
      <topicName>/leap_one/${prefix}_foot_sensor_m${num}</topicName>
      <jointName>${prefix}_foot_sensor_m${num}_j</jointName>
    </plugin>
  </gazebo>
 
</gazebo>

  <gazebo reference="${prefix}_foot_sensor_m${num}">
        <material>Gazebo/Blue</material>
        <mu1>9000</mu1>
        <mu2>9000</mu2>
        <kp>1000000.0</kp>
        <kd>10.0</kd>
        <mindepth>0.001</mindepth>
        <maxcontacts>100</maxcontacts>
    </gazebo>
 
</xacro:macro>
 
<minDepth>0.001</minDepth>
        <maxContacts>100</maxContacts>
    </gazebo>

  </xacro:macro>

  <xacro:gazebo_pressure prefix="left"  parent="left_m6" num="0" x="-0.03" y="-0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="left"  parent="left_m6" num="1" x="0.03" y="-0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="left"  parent="left_m6" num="2" x="-0.03" y="0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="left"  parent="left_m6" num="3" x="0.03" y="0.03" z="-0.034"/>
 
z="-0.034" />

  <xacro:gazebo_pressure prefix="right"  parent="right_m6" num="0" x="-0.03" y="-0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="right"  parent="right_m6" num="1" x="0.03" y="-0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="right"  parent="right_m6" num="2" x="-0.03" y="0.03" z="-0.034"/>
z="-0.034" />
  <xacro:gazebo_pressure prefix="right"  parent="right_m6" num="3" x="0.03" y="0.03" z="-0.034"/>
z="-0.034" />

2) modify ros source code clone gazebo_ros_pkgs repository in github add one line in the gazebo_plugins/src/gazebo_ros_ft_sensor.cpp

////////////////////////////////////////////////////////////////////////////////
// Update the controller
void GazeboRosFT::UpdateChild()
{
 
if {
#if GAZEBO_MAJOR_VERSION >= 8
 
8
  common::Time cur_time = this->world_->SimTime();
 
else
 
this->world_->SimTime();
#else
  common::Time cur_time = this->world_->GetSimTime();
 
endif
 
this->world_->GetSimTime();
#endif

  // rate control
  if (this->update_rate_ > 0 &&
      (cur_time-this->last_time_).Double() < (1.0/this->update_rate_))
  {
+++ **+++      if(cur_time.Double() >= 5) // ignore it when reset_simulation reset_simulation** 
      return;
  }
 
}

  if (this->ft_connect_count_ == 0)
    return;
 
return;

  physics::JointWrench wrench;
  ignition::math::Vector3d torque;
  ignition::math::Vector3d force;
 
force;

  // FIXME: Should include options for diferent frames and measure directions
  // E.g: https://bitbucket.org/osrf/gazebo/raw/default/gazebo/sensors/ForceTorqueSensor.hh
  // Get force torque at the joint
  // The wrench is reported in the CHILD <frame>
  // The <measure_direction> is child_to_parent
  wrench = this->joint_->GetForceTorque(0);
 
if this->joint_->GetForceTorque(0);
#if GAZEBO_MAJOR_VERSION >= 8
 
8
  force = wrench.body2Force;
  torque = wrench.body2Torque;
 
else
 
wrench.body2Torque;
#else
  force = wrench.body2Force.Ign();
  torque = wrench.body2Torque.Ign();
 
endif
wrench.body2Torque.Ign();
#endif

then catkin_make and cp devel/lib/libgazebo_ros_ft_sensor.so into /opt/ros/kinetic/lib/

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