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The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience.
46 lines
1.6 KiB
Markdown
46 lines
1.6 KiB
Markdown
Gazebo plugins for FRC
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======================
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These plugins enable the use of the Gazebo physics simulator to model robots,
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and then use WPILIB programming libraries to control those simulated robots.
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At the present time, this only builds on Linux, and has a fairly complex
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installation process.
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You must have the gazebo development packages available on Linux.
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The gradle build system will automatically skip building this directory
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if those requirements are not met.
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This command:
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`./gradlew build -PmakeSim`
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will force it to attempt to build.
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TODO: The meshes for the models are large, and are not hosted in
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the main allwpilib repository. An alternate method of hosting
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and using is being built at the time of this commit. You must
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manually locate and copy the the models and world from that
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either into /usr/share/frcgazebo or into build/share/frcgazebo
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in order to use this facility.
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Once you have built it, then a command like this:
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`simulation/frc_gazebo_plugins/build/bin/frcgazebo PacGoat2014.world`
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should run the Gazebo simulation using our plugins against the
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2014 model, with the PacGoat robot on the field.
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The halsim_gazebo simulation library will provide a method for
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running robot code to control a simulated robot.
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TODO: Package the plugins more nicely, and then put instructions here.
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TODO: Build and package the plugins for Windows. The key there is to get gazebo
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working on Windows. This link was a useful trove of information on Windows/Gazebo
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issues as of September, 2017:
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https://bitbucket.org/osrf/gazebo/issues/2129/visual-studio-2015-compatibility
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Note that the sense remains that this will be difficult at best.
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