Awesome

hcrl_gazebo

Contains a fork of aws_robomaker_small_house_world, with the ground plane swapped for something with friction parameters compatible with Fetch, and with some textures swapped out.

YCB object models are redistributed under CC BY 4.0.

WRS objects are redistributed under the BSD 3.0 Clear license.

Installation

In order to simulate the external head camera, you'll need to clone PAL Robotics' Gazebo plugin into the workspace. Because the gripper is poorly simulated, we also use a "grasp hack" plugin provided by another package to attach objects to the gripper.

To make sure you have all the dependencies

wstool init <path_to_workspace> <path_to_hcrl_gazebo>/.rosinstall

If you've already run wstool in your workspace, merge the new dependencies with

wstool merge -t <path_to_workspace>/src <path_to_hcrl_gazebo>/.rosinstall
cd src
wstool update

Usage

Launch one of the simulations with

roslaunch hcrl_gazebo [house_simulation| playground_simulation].launch

then launch whatever task specific nodes you need separately. Avoid having robot code depend on this package; there are a lot of large binary files in here, and we don't want to have to clone those to the robot (where we'll certainly never use them).

Stretch

Clone and build our fork of stretch_ros in your workspace. This fork includes corrected collision geometry and inertial properties, as well as functioning navigation configurations.

roslaunch hcrl_gazebo house_simulation_stretch.launch

will launch the house and load "Forky", our lab's modified Stretch model, by default. You can toggle the dexwrist and teleop fisheye add-ons by modifying spawn_stretch.xml. If localization is performing poorly, you can enable fake localization in stretch_navigation.launch

Spawning Objects

The example script shows how to add an object to Gazebo through the ROS interface.

rosrun hcrl_gazebo house_add_table_objects

House: How to Replace Photos in Picture Frames

Picture frames use two textures for the model:

• aws_portraitA_01.png - Frame texture
• aws_portraitA_02.png - Picture texture

To change a picture, one has to replace the aws_portraitA_02.png file. The new image will look best with same aspect ratio as the replaced image.

Below is a table showing portrait type to picture resolution data and custom images from photos/.