lrmate200id_gazebo: add package to spawn model and position control on Gazebo simulator

[wkentaro]

Note

• inertial value in 7165e88 is not well configured.

Result

[gavanderhoorn]

Could you please add the required install() commands here? See fanuc_m10ia_support/CMakeLists.txt for an example.

[gavanderhoorn]

Thanks for the PR.

Inertial values indeed are a bit too 'standard'; perhaps the cylinder approximates used in the ur_description package would be a better approach?

If you address the issues I commented on above, we could merge the package.

[gavanderhoorn]

O, and try these for the masses (link_1 to link_5, all Kg):

• 2.13
• 7.65
• 2.91
• 3.70
• 1.70

[wkentaro]

Actually the robot blows up with the cylinder approximates and above weights.

https://gist.github.com/cc3b26f70ed542c9db79350012fd9223

[wkentaro]

@gavanderhoorn I computed the inertial value with Meshlab, and I think it is closer to the true value. Also the robot looks stable on the Gazebo even with planed trajectory execution by MoveIt!.
Could you please review again and merge if it looks good?

[gavanderhoorn]

@wkentaro: Thanks for your efforts.

I'm currently OoO. I'll take a look somewhere after the 15th. I'll let you know.

[wkentaro]

Alright, thanks.

2016年8月6日土曜日、G.A. vd. Hoornnotifications@github.comさんは書きました:

@wkentaro https://github.com/wkentaro: Thanks for your efforts.

I'm currently OoO. I'll take a look somewhere after the 15th. I'll let you
know.

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