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ambf_tf_plugin

AMBF plugin for transformations. This plugin directly apply transformation to the rigidbody in AMBF. The predefined transformation can be applied only at the initialization phase (INITIAL) all the time (FIXED), or using rostopic (ROS).

1. Installation Instructions:

Let's call the absolute location of this package as <plugin_path>. E.g. if you cloned this repo in your home folder, <plugin_path> = ~/ambf_tf_plugin/ OR /home/<username>/ambf_tf_plugin.

1.1 clone and build the repository

git clone [email protected]:LCSR-CIIS/ambf_tf_plugin.git
cd ambf_tf_plugin
mkdir build && cd 
make

2. How to run the plugin

ambf_simulator --plugins <plugin_path>/build/libambf_tf_plugin.so --tf_list example/tf_list_example.yaml

In your tf_list.yaml, you can add as many transformations in the following format:

transformations:
  - TF World-PegBoard
  - TF Cube-Sphere
  - TF ROS-Test

TF World-PegBoard:
  parent: World # World: AMBF world origin
  child: BODY Puzzle_Board
  type: INITIAL # This transformation will be applied only once at the initialization phase
  transformation: # 4x4 Transformation matrix
  transformation: [
  [ 1.0, 0.0, 0.0, 0.0], 
  [ 0.0, 1.0, 0.0, 0.0],
  [ 0.0, 0.0, 1.0, 0.5],
  [ 0.0, 0.0, 0.0, 1.0]]

  TF Cube-Sphere:
  parent: Cube # World: AMBF world origin or Name of rigidBody
  child: Sphere
  type: FIXED  # This transformation will be applied all the time
  transformation: 
    position: {x: 0.0, y: 0.0, z: 0.0}
    orientation: {r: 0.0, p: 0.0, y: 0.0}

TF ROS-Test:
  parent: Cube
  child: ROS-sphere
  type: ROS  # The transformation will be received through ROS.
  rostopic name: /test_topic # Name of the rostopic (`PoseStampedPtr`)

The TF type can be

  • INITIAL: Predefined transformation can be applied only at the initialization phase
  • FIXED: Predefined transformation can be applied ALL the time
  • ROS: Transformation from ROS topic will be applied

Predefined transformation can be written in 4x4 matrix or in position/orientation format:

position: {x: 0.0, y:0.0, z:0.0}, orientation: {r: 0.0, p: 0.0, y:0.0}

Known problem

  • If the object is static, the object will not move. Add mass and increase the friction/damping if needed.