Comments (4)
In the current generation process in place, it should be trivial to generate a Gazebo model for any specific iCub instance (then exposing just some "major" models for simplifying the life to our users is doable as well).
We discuss a bit on how to implement this with @nunoguedelha today, updating the issue to avoid to forget.
We would like to use the structure that we set up in https://github.com/robotology-playground/icub-models . Currently in that repo the URDF can be used by both ROS and YARP software with no problem. Using them directly in gazebo is a bit problematic, so the options are:
- Automatically generate a separate Gazebo model directory, copying at build/install time the meshes, and add that one to
GAZEBO_MODEL_PATH
, - hack a bit the system, and keep the existing structure without copying meshes in a different position, so that models can also be used directly from the source directory.
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Relatively to the second option, let's take note of somethings.
A Gazebo model is identified by a first-level directory (containing a model.config
) inside one of the directories specified in the GAZEBO_MODEL_PATH
environmental variables [1].
This means that the iCub
directory in https://github.com/robotology-playground/icub-models can't be put directly in GAZEBO_MODEL_PATH
, because the urdf models are inside the robots/iCub***
directory (and this is a constraint of the YARP system to handle robot-specific configuration files).
A possible solution to this is to add iCub/robots
to the GAZEBO_MODEL_PATH.
Once a model is correctly found by Gazebo, the meshes and other assets (such as .ini
YARP configuration files) need to be found by Gazebo. Gazebo uses a URI scheme, and automatically convert any package://
scheme to model://
. The nice thing is that the model://
identify a file with its location in any of the directories contained in GAZEBO_MODEL_PATH
, not only the directory for which the original model was loaded!
So, to load assets that are contained in the iCub/meshes
directory (and eventually iCub/gazebo
etc, etc) it is sufficient to add the appropriate directory to GAZEBO_MODEL_PATH
env variable.
from icub-models-generator.
Related: https://bitbucket.org/osrf/gazebo/pull-requests/2479 .
By the way, I think that the ideal way to solve this kind of problems would be if URDF
/SDF
had a relative path URI scheme, to specify the location of assets relatively to the URDF
/SDF
file.
from icub-models-generator.
This issue originated an Epic (#52) that is now tracking all the deriving issues and PRs for implementing the model generation process described here.
Closing this issue.
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Related Issues (20)
- Increase the damping of iCubGazebov3 and the PID gains HOT 9
- Generate robot models using the information contained in the Robot Bazaar's Robot Manager HOT 1
- converModel.sh script for iCub3 generates a faulty urdf model HOT 2
- Store the reference to the version of cad-mechanics/cad-mechanics-public used to generate a given SimMechanics model
- Clarify developer-oriented workflow HOT 1
- Migrate models to use new gazebo_yarp_robotinteface plugin HOT 6
- Investigate on how to fix the colors in the urdf models HOT 5
- The meshes of icub3 seems not compatible with rviz2 HOT 9
- iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 1 HOT 24
- iCubGazeboV2_*: miss left leg skin frames
- Align xml files of legs/foot FTs for using multipleanalogsensorsremapper HOT 2
- Align icub-models FT sensor names with sensor names exposed by YARP devices on the real robot HOT 2
- iCubGazeboV2_7: xsens root_link IMU not published correctly HOT 2
- Move xsens root_link imu wrapper in Gazebo to gazebo_yarp_robotinterface HOT 1
- Remove use of ambigous "plus" in model names HOT 9
- Migrate ci scripts to conda
- Periodic CI failed January 2024 HOT 1
- Fail when trying to generate the models with pixi HOT 11
- iCubGazeboV2_* and iCubGenova11 : the frames of the ft sensors in the arms seems wrong – Stint 2 HOT 1
- Remove or update models from dh folder
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