add compile_robot_model_for_gazebo.cmake and generate model and launc…

…h file for samplerobot simulation.
start-jsk · Oct 12, 2014 · 337a462 · 337a462
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diff --git a/hrpsys_gazebo_general/catkin.cmake b/hrpsys_gazebo_general/catkin.cmake
@@ -2,12 +2,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hrpsys_gazebo_general)
 
-find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge hrpsys_gazebo_msgs)
+find_package(catkin REQUIRED COMPONENTS hrpsys_ros_bridge hrpsys_gazebo_msgs collada_urdf_jsk_patch)
 
 find_package(PkgConfig)
 pkg_check_modules(openrtm_aist openrtm-aist REQUIRED)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
-catkin_package(CATKIN_DEPENDS hrpsys_ros_bridge hrpsys_gazebo_msgs)
+catkin_package(CATKIN_DEPENDS hrpsys_ros_bridge hrpsys_gazebo_msgs collada_urdf_jsk_patch)
 
 ## Build only gazebo iob
 find_package(PkgConfig)
@@ -56,3 +56,12 @@ add_library(ThermoPlugin src/ThermoPlugin.cpp)
 add_dependencies(ThermoPlugin hrpsys_gazebo_msgs_gencpp)
 #endif()
 
+## Convert robot models
+include(${PROJECT_SOURCE_DIR}/cmake/compile_robot_model_for_gazebo.cmake)
+if(EXISTS ${hrpsys_ros_bridge_SOURCE_DIR})
+  set(hrpsys_ros_bridge_PACKAGE_PATH ${hrpsys_ros_bridge_SOURCE_DIR})
+else()
+  set(hrpsys_ros_bridge_PACKAGE_PATH ${hrpsys_ros_bridge_PREFIX}/share/hrpsys_ros_bridge)
+endif()
+generate_gazebo_urdf_file(${hrpsys_ros_bridge_PACKAGE_PATH}/models/SampleRobot.dae)
+add_custom_target(all_robots_compile ALL DEPENDS ${compile_urdf_robots})
diff --git a/hrpsys_gazebo_general/cmake/compile_robot_model_for_gazebo.cmake b/hrpsys_gazebo_general/cmake/compile_robot_model_for_gazebo.cmake
@@ -0,0 +1,53 @@
+##
+## define macros
+##
+macro (generate_gazebo_urdf_file daefile)
+  # set variable
+  if(hrpsys_gazebo_general_SOURCE_DIR)
+    set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR})
+  elseif(hrpsys_gazebo_general_SOURCE_PREFIX)
+    set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_PREFIX})
+  else(hrpsys_gazebo_general_SOURCE_PREFIX)
+    set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_PREFIX}/share/hrpsys_gazebo_general)
+  endif()
+  get_filename_component(_robot_name ${daefile} NAME_WE)
+  set(_workdir ${PROJECT_SOURCE_DIR}/robot_models)
+  set(_out_dir "${_workdir}/${_robot_name}")
+  set(_out_urdf_file "${_out_dir}/${_robot_name}.urdf")
+  set(_out_urdf_gazebo_file "${_out_dir}/${_robot_name}_gazebo.urdf")
+  add_custom_command(OUTPUT ${_out_dir}/meshes
+    COMMAND mkdir ${_out_dir}/meshes)
+  # convert dae to urdf
+  message("generate_gazebo_urdf_file ${daefile}")
+  ## ${compile_robots} is a global target used in compile_robot_model.cmake of hrpsys_ros_bridge.
+  ## this dependency means that converting urdf after executing all of ${compile_robots}.
+  add_custom_command(OUTPUT ${_out_urdf_file}
+    COMMAND ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${daefile} -G -A --mesh_output_dir ${_out_dir}/meshes --mesh_prefix "package://${PROJECT_NAME}/robot_models/${_robot_name}/meshes" --output_file=${_out_urdf_file}
+    COMMAND ${_out_dir}/${_robot_name}_additional_urdf_setting.sh ${_out_urdf_file}
+    DEPENDS ${_out_dir}/meshes ${compile_robots})
+  add_custom_command(OUTPUT ${_out_urdf_file}
+    COMMAND ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf ${daefile} -G -A --mesh_output_dir ${_out_dir}/meshes --mesh_prefix "package://${PROJECT_NAME}/robot_models/${_robot_name}/meshes" --output_file=${_out_urdf_file}
+    COMMAND ${_out_dir}/${_robot_name}_additional_urdf_setting.sh ${_out_urdf_file}
+    DEPENDS ${_out_dir}/meshes ${compile_robots})
+  add_custom_command(OUTPUT ${_out_urdf_gazebo_file}
+    COMMAND sed -e "s@package://${PROJECT_NAME}/robot_models/@model://@g" ${_out_urdf_file} > ${_out_urdf_gazebo_file}
+    DEPENDS ${_out_urdf_file})
+  add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_gazebo_file})
+  # generate launch and world file
+  set(ROBOT ${_robot_name})
+  string(TOLOWER ${_robot_name} _robot_sname)
+  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
+    configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/default_gazebo_robot_no_controllers.launch.in ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
+    list(APPEND ${_robot_name}_compile ${PROJECT_SOURCE_DIR}/launch/gazebo_${_robot_sname}_no_controllers.launch)
+  endif()
+  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/launch/${_robot_sname}_hrpsys_bringup.launch)
+    configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/default_robot_hrpsys_bringup.launch.in ${_robot_sname}_hrpsys_bringup.launch)
+    list(APPEND ${_robot_name}_compile ${PROJECT_SOURCE_DIR}/launch/${_robot_sname}_hrpsys_bringup.launch)
+  endif()
+  if(NOT EXISTS ${_out_dir}/model.config)
+    configure_file(${hrpsys_gazebo_general_PACKAGE_PATH}/scripts/model.config.in ${_out_dir}/model.config)
+    list(APPEND ${_robot_name}_compile ${_out_dir}/model.config)
+  endif()
+  list(APPEND compile_urdf_robots ${_robot_name}_compile)
+  install(DIRECTORY ${_out_dir} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robot_models/ PATTERN ".svn" EXCLUDE)
+endmacro()
diff --git a/hrpsys_gazebo_general/config/SampleRobot.yaml b/hrpsys_gazebo_general/config/SampleRobot.yaml
@@ -0,0 +1,122 @@
+hrpsys_gazebo_configuration:
+## velocity feedback for joint control, use parameter gains/joint_name/p_v
+  use_velocity_feedback: true
+## synchronized hrpsys and gazebo
+# use_synchronized_command: false
+# name of robot (using for namespace)
+  robotname: SampleRobot
+# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
+  joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28]
+# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
+  joints:
+    - RLEG_HIP_R
+    - RLEG_HIP_P
+    - RLEG_HIP_Y
+    - RLEG_KNEE
+    - RLEG_ANKLE_P
+    - RLEG_ANKLE_R
+    - RARM_SHOULDER_P
+    - RARM_SHOULDER_R
+    - RARM_SHOULDER_Y
+    - RARM_ELBOW
+    - RARM_WRIST_Y
+    - RARM_WRIST_P
+    - RARM_WRIST_R
+    - LLEG_HIP_R
+    - LLEG_HIP_P
+    - LLEG_HIP_Y
+    - LLEG_KNEE
+    - LLEG_ANKLE_P
+    - LLEG_ANKLE_R
+    - LARM_SHOULDER_P
+    - LARM_SHOULDER_R
+    - LARM_SHOULDER_Y
+    - LARM_ELBOW
+    - LARM_WRIST_Y
+    - LARM_WRIST_P
+    - LARM_WRIST_R
+    - WAIST_P
+    - WAIST_R
+    - CHEST
+## comment for joint index
+# 0   - RLEG_HIP_R
+# 1   - RLEG_HIP_P
+# 2   - RLEG_HIP_Y
+# 3   - RLEG_KNEE
+# 4   - RLEG_ANKLE_P
+# 5   - RLEG_ANKLE_R
+# 6   - RARM_SHOULDER_P
+# 7   - RARM_SHOULDER_R
+# 8   - RARM_SHOULDER_Y
+# 9   - RARM_ELBOW
+# 10  - RARM_WRIST_Y
+# 11  - RARM_WRIST_P
+# 12  - RARM_WRIST_R
+# 13  - LLEG_HIP_R
+# 14  - LLEG_HIP_P
+# 15  - LLEG_HIP_Y
+# 16  - LLEG_KNEE
+# 17  - LLEG_ANKLE_P
+# 18  - LLEG_ANKLE_R
+# 19  - LARM_SHOULDER_P
+# 20  - LARM_SHOULDER_R
+# 21  - LARM_SHOULDER_Y
+# 22  - LARM_ELBOW
+# 23  - LARM_WRIST_Y
+# 24  - LARM_WRIST_P
+# 25  - LARM_WRIST_R
+# 26  - WAIST_P
+# 27  - WAIST_R
+# 28  - CHEST
+## joint gain settings
+  gains:
+    LLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_R:      {p: 12000.0, d:  4.0, i: 0.0, vp:  6.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_P:      {p: 24000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_HIP_Y:      {p:  4000.0, d:  4.0, i: 0.0, vp:  1.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_KNEE:       {p: 36000.0, d:  6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_P:    {p: 18000.0, d:  3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    RLEG_ANKLE_R:    {p:  6000.0, d:  2.0, i: 0.0, vp:  4.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_P:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    WAIST_R:         {p: 8000.0, d:   4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    CHEST:           {p: 6000.0, d:   2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0}
+    LARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    LARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    LARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    LARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_SHOULDER_P: {p: 1200.0, d:   1.0, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_SHOULDER_R: {p:  500.0, d:   0.5, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 120.0}
+    RARM_SHOULDER_Y: {p:  200.0, d:   0.3, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_ELBOW:      {p: 1000.0, d:   1.4, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 160.0}
+    RARM_WRIST_Y:    {p:  200.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_WRIST_P:    {p:  300.0, d:   0.2, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+    RARM_WRIST_R:    {p:   20.0, d:   0.1, i: 0.0, vp:  0.0, i_clamp: 0.0, p_v: 100.0}
+## force sensor settings
+## list of force sensorname
+  force_torque_sensors:
+    - lfsensor
+    - rfsensor
+    - lhsensor
+    - rhsensor
+## configuration of force sensor
+## key of force_torque_sensors_config should be a member of force_torque_sensors
+  force_torque_sensors_config:
+    lfsensor: {joint_name: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
+    rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]}
+    lhsensor: {joint_name: 'LARM_WRIST_R', frame_id: 'LARM_LINK7'}
+    rhsensor: {joint_name: 'RARM_WRIST_R', frame_id: 'RARM_LINK7'}
+## IMU sensor settings
+## configuration of IMU sensor
+## key of imu_sensors_config should be a member of imu_sensors
+  imu_sensors:
+    - imu_sensor0
+  imu_sensors_config:
+    imu_sensor0: {ros_name: 'sample_imu_sensor', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'}
diff --git a/hrpsys_gazebo_general/launch/gazebo_robot_no_controllers.launch b/hrpsys_gazebo_general/launch/gazebo_robot_no_controllers.launch
@@ -0,0 +1,55 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="ROBOT_TYPE" default="SampleRobot" />
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world" />
+  <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_general)/config/$(arg ROBOT_TYPE).yaml" />
+  <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_general)/robot_models/$(arg ROBOT_TYPE)/$(arg ROBOT_TYPE).urdf.xacro" />
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+  <arg name="USE_INSTANCE_NAME" default="false" />
+  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
+
+  <arg name="LOOPBACK" default="false" />
+  <arg name="SPAWN_MODEL" default="false" />
+
+  <arg name="MODEL_TRANSLATE_X" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Y" default="0.0" />
+  <arg name="MODEL_TRANSLATE_Z" default="1.0" />
+
+  <arg if="$(arg PAUSED)"
+       name="paused" value="_paused" />
+  <arg unless="$(arg PAUSED)"
+       name="paused" value="" />
+
+  <group unless="$(arg LOOPBACK)" >
+    <param name="/use_sim_time" type="bool" value="true"/>
+
+    <!-- start gazebo with the hrpsys_gazebo -->
+    <node name="gazebo" pkg="hrpsys_gazebo_general" type="$(arg gzname)" args="$(arg WORLD)" output="screen" />
+  </group>
+
+  <group if="$(arg USE_INSTANCE_NAME)"
+         ns="$(arg ROBOT_INSTANCE_NAME)" >
+    <!-- controller configuration -->
+    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <!-- setting for using synchronized iob -->
+    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
+           value="$(arg SYNCHRONIZED)" />
+  </group>
+
+  <group unless="$(arg USE_INSTANCE_NAME)" >
+    <!-- controller configuration -->
+    <rosparam command="load" file="$(arg HRPSYS_GAZEBO_CONFIG)" />
+    <!-- setting for using synchronized iob -->
+    <param name="hrpsys_gazebo_configuration/use_synchronized_command"
+           value="$(arg SYNCHRONIZED)" />
+  </group>
+
+  <!-- Robot Description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg ROBOT_MODEL)'" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+  <!-- Spawn Robot Model -->
+  <node name="spawn_robot_model" pkg="gazebo_ros" type="spawn_model"
+        args="-unpause -urdf -param robot_description -model mobile_base -z 0.73" />
+</launch>
diff --git a/hrpsys_gazebo_general/launch/gazebo_samplerobot_no_controllers.launch b/hrpsys_gazebo_general/launch/gazebo_samplerobot_no_controllers.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="gzname" default="gazebo"/>
+  <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/>
+  <arg name="PAUSED" default="false"/>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
+    <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="WORLD" value="$(arg WORLD)" />
+    <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_general)/config/SampleRobot.yaml" />
+    <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_general)/robot_models/SampleRobot/SampleRobot.urdf.xacro" />
+
+    <arg name="PAUSED" value="$(arg PAUSED)"/>
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="gzname" value="$(arg gzname)" />
+  </include>
+</launch>
diff --git a/hrpsys_gazebo_general/launch/robot_hrpsys_bringup.launch b/hrpsys_gazebo_general/launch/robot_hrpsys_bringup.launch
@@ -0,0 +1,68 @@
+<launch>
+  <arg name="KILL_SERVERS" default="false" />
+  <arg name="ROBOT_TYPE" default="SampleRobot" /> <!-- ROBOT type name -->
+  <arg name="SIMULATOR_NAME" default="RobotHardware0" />
+  <arg name="CONFIG_NAME" default="hrpsys_gazebo_configuration" />
+  <arg name="LOOPBACK" default="false" />
+  <!-- ROBOT instance name (name_space) -->
+  <arg name="ROBOT_INSTANCE_NAME" default="$(arg ROBOT_TYPE)" />
+  <arg name="USE_INSTANCE_NAME" default="false" />
+  <arg name="HRPSYS_PY_ARGS" default="" />
+  <arg name="CONF_DIR" value="$(find hrpsys_ros_bridge)/models" />
+  <arg name="CONF_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE).conf" />
+
+  <!-- hrpsys_gazebo settings -->
+  <arg name="SYNCHRONIZED" default="false" />
+  <arg name="IOB_SUBSTEPS" default="5" />
+  <arg name="HRPSYS_RATE"  default="200" />
+
+  <env if="$(arg SYNCHRONIZED)"
+       name="HRPSYS_GAZEBO_IOB_SYNCHRONIZED" value="1" />
+  <env if="$(arg SYNCHRONIZED)"
+       name="HRPSYS_GAZEBO_IOB_SUBSTEPS" value="$(arg IOB_SUBSTEPS)" />
+
+  <include if="$(arg LOOPBACK)"
+           file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch" >
+    <arg name="ROBOT_TYPE" value="$(arg ROBOT_TYPE)" />
+    <arg name="ROBOT_INSTANCE_NAME" value="$(arg ROBOT_INSTANCE_NAME)" />
+    <arg name="LOOPBACK" value="true" />
+  </include>
+
+  <!--env name="HRPSYS_GAZEBO_IOB_NAME" value="hrpsys_gazebo_iob" /-->
+  <!--env name="HRPSYS_GAZEBO_CONFIGURATION" value="hrpsys_gazebo_configuration" /-->
+  <env if="$(arg USE_INSTANCE_NAME)"
+       name="HRPSYS_GAZEBO_ROBOTNAME" value="$(arg ROBOT_INSTANCE_NAME)" />
+
+  <!-- end of hrpsys_gazebo settings -->
+
+  <include file="$(find hrpsys_tools)/launch/hrpsys.launch" >
+    <arg name="USE_RTCD" value="true" />
+    <arg name="hrpsys_load_path" default="$(find hrpsys_gazebo_general)/lib,$(find hrpsys)/lib"/>
+    <arg name="RobotHardware_conf" default='$(arg CONF_DIR)/$(arg ROBOT_TYPE).RobotHardware.conf'/>
+    <arg name="PROJECT_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE)_nosim.xml" />
+    <arg name="MODEL_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE).dae" />
+    <arg name="CONF_FILE" value="$(arg CONF_FILE)" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="HRPSYS_PY_ARGS" default="$(arg HRPSYS_PY_ARGS)" />
+    <arg name="hrpsys_periodic_rate" value="$(arg HRPSYS_RATE)" />
+    <!--arg name="RTCD_LAUNCH_PREFIX" value="xterm -e gdb ++args" /-->
+  </include>
+
+  <!-- hrpsys_ros_bridge -->
+  <include file="$(find hrpsys_ros_bridge)/launch/hrpsys_ros_bridge.launch" >
+    <arg name="MODEL_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE).dae" />
+    <arg name="COLLADA_FILE" value="$(arg CONF_DIR)/$(arg ROBOT_TYPE).dae" />
+    <arg name="SIMULATOR_NAME" value="$(arg SIMULATOR_NAME)" />
+    <arg name="INSTALL_ROBOT_DESCRIPTION" value="false" />
+
+    <arg name="USE_COMMON" default="true" />
+    <arg name="USE_ROBOTHARDWARE" default="true" />
+    <arg name="USE_WALKING" default="true" />
+    <arg name="USE_COLLISIONCHECK" default="true" />
+    <arg name="USE_IMPEDANCECONTROLLER" default="true" />
+    <arg name="USE_SOFTERRORLIMIT" default="true" />
+    <arg name="USE_IMAGESENSOR" default="false" />
+  </include>
+
+  <node pkg="hrpsys_ros_bridge" type="hrpsys_dashboard" name="gazebo_robot_dashboard" />
+</launch>
diff --git a/hrpsys_gazebo_general/launch/samplerobot_hrpsys_bringup.launch b/hrpsys_gazebo_general/launch/samplerobot_hrpsys_bringup.launch
@@ -0,0 +1,25 @@
+<launch>
+  <arg name="SYNCHRONIZED" default="false" />
+
+  <rosparam command="load"
+            file="$(find hrpsys_ros_bridge)/models/SampleRobot_controller_config.yaml" />
+
+  <!-- TODO: fix colladaWriter see https://code.google.com/p/rtm-ros-robotics/issues/detail?id=182 -->
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_0"
+        args="0 0 0 0 0 0 /LLEG_LINK6 /LLEG_ANKLE_R 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_1"
+        args="0 0 0 0 0 0 /RLEG_LINK6 /RLEG_ANKLE_R 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_2"
+        args="0 0 0 0 0 0 /LARM_LINK7 /LARM_WRIST_P 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_3"
+        args="0 0 0 0 0 0 /RARM_LINK7 /RARM_WRIST_P 100" />
+  <node pkg="tf" type="static_transform_publisher" name="sensor_transform_4"
+        args="0 0 0 0 0 0 /WAIST_LINK0 gyrometer 100" />
+
+  <include file="$(find hrpsys_gazebo_general)/launch/robot_hrpsys_bringup.launch">
+    <arg name="ROBOT_TYPE" value="SampleRobot" />
+    <arg name="USE_INSTANCE_NAME" value="true" />
+    <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />
+    <arg name="HRPSYS_PY_ARGS" value="--use-unstable-rtc" />
+  </include>
+</launch>
diff --git a/hrpsys_gazebo_general/manifest.xml b/hrpsys_gazebo_general/manifest.xml
@@ -14,8 +14,7 @@
 
   <depend package="gazebo_ros"/>
   <depend package="gazebo_msgs"/>
-  <depend package="gazebo_plugins"/>
   <depend package="hrpsys_ros_bridge" />
-  <depend package="hrpsys_gazebo_msgs" />
-
+  <depend package="collada_urdf_jsk_patch" />
+  <depend package="xacro" />
 </package>