FloorPlan DSL Gazebo Plugins

This repository host three plugins for dynamic behaviour of articulated objects:

• Initial Joint Pose Plugin: sets an initial joint position at the beginning of the simulation.
• Time-Based Dynamic Joint Pose Plugin: changes the joint position at specified times.
• Trigger-Based Dynamic Joint Pose Plugin changes the joint position when the robot is at a specified distance.

Getting started

1. Install ROS Jazzy Jalisco

2. Make the script 'build_gazebo_plugins.sh' executable:

sudo chmod +x build_gazebo_plugins.sh

3. Run the build script

./build_gazebo_plugins.sh

3. Source your bashrc

source ~/.bashrc

5. Add the plugins to your model as defined in the section Usage

Usage

Initial Joint Pose Plugin

This plugin was created to support one companion tool of the FloorPlan DSL. The companion tool allows for modelling kinematic chains and their states, as well as their placement in the world.

<plugin name="initial_plugin" filename="libinitial_plugin.so">
    <joint>JOINT_NAME</joint>
    <position>JOINT_POSITION</position>
</plugin>

Where:

• JOINT_NAME: string, name of the model joint that will have a position set up.
• JOINT_POSITION: float, position of the joint. If the joint is revolute it is interpreted as radians, and if it is prismatic it is interpreted as meters.

Time-Based Dynamic Joint Pose Plugin

<plugin name="dynamic_joint_pluginss" filename="libdynamic_joint_plugin.so">
    <joint>JOINT_NAME</joint>
    <uri>PATH_TO_JSON_FILE</uri>
</plugin>

Where:

• JOINT_NAME: string, name of the model joint that will have a position set up.
• PATH_TO_JSON_FILE: string, path to a json file that specifies the positions and timestamps at which the joint moves.

The json file has this format:

{
    "keyframes": [
        {
            "pose": 0,
            "time": 10.0
        }
    ]
}

Similar to JOINT_POSITION, If the joint is revolute the float value is interpreted as radians, and if it is prismatic it is interpreted as meters. The time is specified in seconds.

Trigger-Based Dynamic Joint Pose Plugin

<plugin name="adversarial_joint_plugin" filename="libadversarial_joint_plugin.so">
    <joint>JOINT_NAME</joint>
    <x>JOINT_POSITION_BEFORE_TRIGGER</x>
    <near>DISTANCE_TO_TRIGGER</near>
    <y>JOINT_POSITION_AFTER_TRIGGER</y>
</plugin>

Where:

• JOINT_NAME: string, name of the model joint that will have a position set up.
• JOINT_POSITION_BEFORE_TRIGGER: float, similar to JOINT_POSITION.
• DISTANCE_TO_TRIGGER: float, distance at which the joint goes from the before_trigger position to the after_trigger position, in meters.
• JOINT_POSITION_AFTER_TRIGGER: float, similar to JOINT_POSITION.

Acknowledgement

This work is part of a project that has received funding from the European Union's Horizon 2020 research and innovation programm SESAME under grant agreement No 101017258.