rtt_gazebo_examples

RTT Gazebo Example

This package also includes a simple demonstration of the RTT Gazebo plugins and also uses ROS for launching gazebo.

First, launch gazebo with the demo model:

roslaunch rtt_gazebo_examples test.launch

Then, in another shell, you can launch the rtt_gazebo_console:

rosrun rtt_gazebo_console console

This will display something similar to this:

   Switched to : console_deployer

  This console reader allows you to browse and manipulate TaskContexts.
  You can type in an operation, expression, create or change variables.
  (type 'help' for instructions and 'ls' for context info)

    TAB completion and HISTORY is available ('bash' like)

    Use 'Ctrl-D' or type 'quit' to exit this program.

console_deployer [S]> 

Once you've loaded up the console, you can cd into the demo component:

cd gazebo
cd sevenbot

Then you can list some of the debug attributes:

ls debug

This will display something simiar to:

 Listing Service debug[R] :

 Configuration Properties: (none)

 Provided Interface:
  Attributes   : 
     double time_rtt       = 6.938               
     double time_gz        = 6.938               
        int steps_rtt      = 6891                
        int steps_gz       = 6771                
        int n_joints       = 8                   
      array joint_pos      = { [-2.78448e-06, 7.2723e-06, 6.19356e-06, -5.0639e-06, 3.9167e-06, -2.79475e-06, 1.73491e-06, 8.32204e-07 ], size = 8, capacity = 8 }
      array joint_command  = { [3.06293e-06, 8.01095e-06, -6.80253e-06, 5.57588e-06, -4.30829e-06, 3.07115e-06, -1.90659e-06, -9.20536e-07 ], size = 8, capacity = 8 }

  Operations      : (none)

 Data Flow Ports: (none)

 Services: 
(none)

You can also change the gains of the joint-level PD effort control:

kp = 0.5
kd = 10