gazebo_mocap4r2_plugin

This package provides you with a gazebo plugin that allows you to simulate the use of Motion Capture Markers on your simulated robot.

How to use

Add in your robot model the following, as done in This sample model:

    <link name="base_mocap">
        <pose>"0 0 0.577 0 0 0</pose>
        <inertial>
          <mass value="0.125"/>
          <origin xyz="0 0 0.577"/>
          <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
        </inertial>

        <collision name="mocap_sensor_collision">
          <pose>0 0 0.577 0 0 0</pose>
          <geometry>
            <cylinder length="0.055" radius="0.0508"/>
          </geometry>
        </collision>

        <visual name="mocap_sensor_visual">
          <origin rpy="0 0 0" xyz=" 0 0 0"/>
          <geometry>
            <mesh filename="package://gazebo_mocap4r2_plugin/meshes/rigid_body.dae" scale="0.001 0.001 0.001"/>
          </geometry>
        </visual>
      </link>
    <gazebo>
    <plugin name="gazebo_ros_mocap" filename="libgazebo_ros_mocap.so">
      <model_name>robot</model_name>
      <link_name>base_footprint</link_name>
    </plugin>
    </gazebo>

Run the sample

To see it in action, just type:

ros2 launch gazebo_mocap4r2_plugin tb3_simulation_launch.py

Open gzclient in other terminal:

gzclient

And check that topics /markers and /rigid_bodies are availables

Example of full integration with mocap_control.

Markers and rigid body