242 lines
9.7 KiB
Markdown
242 lines
9.7 KiB
Markdown
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# Plugins supported in Gazebo ROS packages
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## Initial note
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As detailed in the CONTRIBUITON.md guide, Gazebo ROS packages are a wrapper that
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connects upstream Gazebo simulations with the ROS framework. Ideally all the
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plugins in this repository should implement the ROS wrapper over a gazebo plugin
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(plugin code in the [upstream gazebo repository](https://bitbucket.org/osrf/gazebo/)).
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## Sensors
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### Template
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- ***description:*** short description of the wrapper.
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- ***status:***
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- **maintained**: no big issues, should work fine
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- **autotest**: the wrapper has automatic tests
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- **doxygen**: the wrapper implements doxygen comments
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- **needs-cleanup**: the code of the wrapper should be improved
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- **not-just-a-wrapper**: the code in this repo is not just a wrapper and
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contains simulation code. The simulation code should be migrated to
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the Gazebo repository.
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- ***gazebo plugin:*** gazebo upstream plugin used by the wrapper
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- ***example:*** example files that use the wrapper
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### ROS wrappers for Gazebo upstream sensors
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* ***gazebo_ros_block_laser***
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- ***description:*** implements ray based sensors (lasers). Publishes
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sensors_msgs::PointCloud.
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- ***status:*** maintained
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- ***gazebo plugin:*** RayPlugin
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- ***example:*** gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world
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gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world
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* ***gazebo_ros_bumper***
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- ***description:*** implements a contact sensor. Publishes
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gazebo_msgs::ContactsState.
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- ***status:*** maintained, needs-cleanup
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- ***gazebo plugin:***
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- ***example:*** gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world:
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- test: gazebo_plugins/test/test_worlds/bumper_test.world:
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* ***gazebo_ros_camera***
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gazebo_ros_camera_utils
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- ***description:*** implements a camera. Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
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- ***status:*** maintained, dynamic-reconfigure, autotest
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- ***gazebo plugin:*** CameraPlugin, GazeboRosCameraUtils
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- ***example:*** gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world:
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gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world:
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gazebo_plugins/test/test_worlds/gazebo_ros_camera.world:
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gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world:
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gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro:
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* ***gazebo_ros_f3d***
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- ***description:*** controller that fake (empty publisher) a 6 dof force sensor
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Publishes geometry_msgs::WrenchStamped
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- ***status:*** stub
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_force***
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- ***description:*** collects data from a ROS topic and applies wrench to a body accordingly.
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- ***status:*** maintained, doxygen
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_ft_sensor***
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- ***description:*** implements Force/Torque sensor.
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Publishes: geometry_msgs/WrenchStamped messages
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- ***status:*** maintained, doxygen
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_gpu_laser***
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- ***description:*** implements GPU laser based sensors.
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Publishes: sensor_msgs::LaserScan
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- ***status:*** maintained
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- ***gazebo plugin:*** GpuRayPlugin
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- ***example:*** gazebo_plugins/test/test_worlds/gazebo_ros_gpu_laser.world
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gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro
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* ***gazebo_ros_laser***
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- ***description:*** ROS wrapper for ray based sensors (lasers).
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Publishes sensor_msgs::LaserScan.
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- ***status:*** maintained
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- ***gazebo plugin:*** RayPlugin
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- ***example:*** test/test_worlds/gazebo_ros_laser.world
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test/test_worlds/test_lasers.world
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test/multi_robot_scenario/xacro/laser/hokuyo.xacro
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* ***gazebo_ros_multicamera***
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MultiCameraPlugin
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gazebo_ros_camera_utils
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- ***description:*** ROS wrapper for one or more synchronized cameras.
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Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
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- ***status:*** maintained, autotest
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- ***gazebo plugin:*** MultiCameraPlugin
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- ***example:*** --
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* ***gazebo_ros_openni_kinect***
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- ***description:*** ROS wrapper for depth camera sensors (Kinect like)
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Publishes: sensor_msgs::PointCloud2, sensor_msgs::Image
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- ***status:*** maintained
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- ***gazebo plugin:*** DepthCameraPlugin
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- ***example:*** --
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* ***gazebo_ros_prosilica***
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- ***description:*** plugin for simulating prosilica cameras in gazebo
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Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo
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- ***status:*** maintained
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- ***gazebo plugin:*** > CameraPlugin > ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_range***
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- ***description:*** simulate range sensors like infrared or ultrasounds
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Publishes: sensor_msgs/Range
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- ***status:*** maintained
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- ***gazebo plugin:*** RayPlugin
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- ***example:*** gazebo_plugins/test/test_worlds/gazebo_ros_range.world
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gazebo_ros/launch/range_world.launch
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### ROS implementations for sensors (not recommended)
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Although there is some code in this repo that implements simulations, this
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should be an exception. Please checkout the CONTRIBUTION.md guide for more
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details about which code should be submitted to this repository.
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* ***gazebo_ros_depth_camera***
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- ***description:*** implements depth camera based sensors. Publishes: sensor_msgs::Image,
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sensor_msgs::CameraInfo, sensors_msgs::PointCloud2
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- ***status:*** maintained, not-just-a-wrapper, autotest, needs-cleanup
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- ***gazebo plugin:*** DepthCameraPlugin
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- ***example:*** gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world
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gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world
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* ***gazebo_ros_diff_drive***
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- ***description:*** implements a diff drive base. Publishes: sensor_msgs::JointState,
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nav_msgs::Odometry
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- ***status:*** maintained, not-just-a-wrapper, rosparams, needs-cleanup
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro
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gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch
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## Other plugins (not related to sensors)
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* ***gazebo_ros_elevator***
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- ***description:*** implements an elevator
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- ***status:*** maintained
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- ***gazebo plugin:*** ElevatorPlugin
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- ***example:*** gazebo_plugins/test/test_worlds/elevator.world
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* ***gazebo_ros_hand_of_god***
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- ***description:*** Drives floating object around based on the location of a TF frame
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- ***status:*** maintained, doxygen
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_joint_pose_trajectory***
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- ***description:*** get a pose trajectory (trajectory_msgs::JointTrajectory) and execute it
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- ***status:*** maintained
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- ***gazebo_plugin:*** --
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- ***example:*** gazebo_plugins/test/pub_joint_trajectory_test.cpp
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* ***gazebo_ros_joint_state_publisher***
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- ***description:*** ROS plugin that publishes the state of a given set of joints at a given rate
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Publishes: sensors_msgs::JointState
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- ***status:*** maintained
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- ***gazebo_plugin:*** --
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- ***example:*** multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro
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* ***gazebo_ros_p3d***
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- ***description:*** publish 3D position interface for ground truth
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Publishes: nav_msgs::Odometry
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- ***status:*** maintained
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** test/p3d_test/worlds/single_pendulum.world
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test/p3d_test/worlds/3_double_pendulums.world
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test2/large_models/smaller_large_model.urdf.xacro
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test2/large_models/large_model.urdf.xacro
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* ***gazebo_ros_planar_move***
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- ***description:*** simple model controller that uses a twist message to move a robot on the xy plane
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Publishes: nav_msgs::Odometry, tf
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- ***status:*** maintained
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:***
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* ***gazebo_ros_projector***
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- ***description:*** controller that controls texture projection into the world from a given body.
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Publish: msgs::Projector
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- ***status:*** maintained
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** -- (some information in the header file)
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* ***gazebo_ros_skid_steer_drive***
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- ***description:*** A skid steering drive plugin
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Publish: nav_msgs::Odometry
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- ***status:*** maintained
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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* ***gazebo_ros_tricycle_drive***
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- ***description:*** a tricycle drive plugin for gazebo
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Publish: nav_msgs::Odometry, sensor_msgs::JointState
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- ***status:*** maintained, rosparams
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** gazebo_plugins/test/tricycle_drive/
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xacro, launch, world, rviz, etc.
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* ***gazebo_ros_video***
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- ***description:*** Video plugin for displaying ROS image topics on Ogre textures
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- ***status:*** maintained
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- ***gazebo plugin:*** VisualPlugin
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- ***example:*** --
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## List of deprecated plugins (to be removed)
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* ***gazebo_ros_joint_trajectory***
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- ***description:*** migrate to gazebo_ros_joint_pose_trajectory
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- ***status:*** deprecated. To be removed in Lunar.
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- ***gazebo plugin:*** --
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- ***example:*** --
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* ***camera_synchronizer***
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* ***vision_reconfigure***
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- ***description:***
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- ***status:*** needs-work, dead?
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- ***gazebo plugin:*** CameraSynchronizerConfig
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- ***example:***
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* ***gazebo_ros_imu***
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- ***description:*** implements an IMU sensor. Publishes: sensor_msgs::Imu
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- ***status:*** maintained, not-just-a-wrapper
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- ***gazebo plugin:*** ModelPlugin (generic)
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- ***example:*** --
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