Plugin XML Reference and Example

Ros Vacuum Gripper Plugin. More...

Collaboration diagram for Plugin XML Reference and Example:

Classes
class	gazebo::GazeboRosVacuumGripper

Detailed Description

Ros Vacuum Gripper Plugin.

This is a Plugin that collects data from a ROS topic and applies wrench to a body accordingly.

Example Usage:

• left_end_effector will be the power point
• revolute type joint is necessary (fixed joint disappears on gazebo and plugin can't find the joint and link)

      <link name="left_end_effector">
        <gravity>0</gravity>
        <visual>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <geometry>
            <box size="0.01 0.01 0.01"/>
          </geometry>
          <material name="transparent">
            <color rgba="0 0 0 0"/>
          </material>
        </visual>
        <inertial>
          <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
          <mass value="0.0001"/>
          <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
        </inertial>
      </link>
      <joint name="left_end_joint" type="revolute">
        <parent link="left_wrist" />
        <child link="left_end_effector" />
        <origin rpy="0 0 0" xyz="0.08 0 .44" />
        <limit effort="30" velocity="1.0" lower="0" upper="0" />
      </joint>
      <gazebo>
        <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so">
          <robotNamespace>/robot/left_vacuum_gripper</robotNamespace>
          <bodyName>left_end_effector</bodyName>
          <topicName>grasping</topicName>
        </plugin>
      </gazebo>