i am actually looking to simulate obstacle avoidance for an ABB serial manipulator with 6 DOF. so suggest me a simulator that is helfpul in my case.
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how does robo studio and gazebo differ?
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why my model break down in gazebo?
I export a hexapod model from solidworks. when i sim this model in gazebo ,it break down in gazebo.
and this situtation occur when i set revolute limit effort 1000
,when i set limit effort 2.8,it will not break down ,but it will shake and move in the land.I can not control it.
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turtlebot_teleop: control moving around keys
Hi everyone,
I am going through the [tutorials](http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Explore%20the%20Gazebo%20world) for the turtlebot simulation on Gazebo. I can make the robot move with the command.
I see the on-screen instructions:
Control Your Turtlebot!---------------------------Moving around: u i o j k l m , .q/z : increase/decrease max speeds by 10%w/x : increase/decrease only linear speed by 10%e/c : increase/decrease only angular speed by 10%space key, k : force stopanything else : stop smoothlyCTRL-C to quitI have movements: - ***u/o, m/.*** turn around a point, - ***j/l*** turn in place, - ***i/,*** move forward, backward. What is the difference between ***u/o*** and ***m/.***? How can I change these movements? For example, add move left, move right. Thanks
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no image received in rviz (turtlebot sim)
Hi everyone,
I have just started with Ubuntu, ROS and Gazebo so I really do not know much yet. However, I really want to learn as much as possible and as fast as possible so please help me.
I am going through the tutorials for the turtlebot simulation on Gazebo after going through the tutorial from gazebosim. I can make the robot move with the command but I am having issues with the RViz parts. In the first tutorial, when I open RVIZ, to visualize my world in Gazebo, I have a warning for the image. It displays no image received. I can still see the obstacles added to the world with the point cloud. Do you know why I am not receiving any image?
USing Hydro and gazebo 1.9
Thanks
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Gazebo Q&A is down
It looks like Gazebo Forum is down. So, who do I have to ask?
http://downforeveryoneorjustme.com/answers.gazebosim.org/
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knowing objects dimension in ROS with a Basler camera
Hi Ros users:
I use Ros indigo and ubunto 14.04. I have a Basler camera.
I would like to know the width of an object (a cube for example). So the process will be:
1-Camera detecs the object.
2-A ros node says the width.
Is there any package that does that?
(I could do with rviz maybe)
Thanks a lot.
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Gazebo Planar Move Plugin for Omni-Directional Wheel
Hi, I'm trying to simulate Kuka youbot with gazebo.
I have a question about gazebo planar move plugin.
Since kuka youbot has mecanum wheels, it needs to use gazebo planar move plugin.
So I followed [this instruction](http://gazebosim.org/tutorials?tut=ros_gzplugins) and added the plugin. As a result, the mobile platform works fine, however the manipulator on the platform looks weird.
Manipulator falls down because of gravity, but the motion is very slow.
And each joint requires more torques to move than without the plugin. Why planar move plugin affects robot motion in the above way ?
How can I avoid this situation ? Thanks in advance.
I have a question about gazebo planar move plugin.
Since kuka youbot has mecanum wheels, it needs to use gazebo planar move plugin.
So I followed [this instruction](http://gazebosim.org/tutorials?tut=ros_gzplugins) and added the plugin. As a result, the mobile platform works fine, however the manipulator on the platform looks weird.
Manipulator falls down because of gravity, but the motion is very slow.
And each joint requires more torques to move than without the plugin. Why planar move plugin affects robot motion in the above way ?
How can I avoid this situation ? Thanks in advance.
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Gazebo teleport robot via set_model_state in 0-gravity only moves part of robot
Gazebo 2.2.6 with ROS Indigo.
My goal is to teleport a robot hand (without a robot body attached) to arbitrary places in the world, including in mid-air, without the hand falling to the ground. Therefore I need simulation in 0 gravity.
The problem I’m having is, as soon as I set gravity to 0, I can no longer teleport the hand correctly by set_model_state. Part of the hand (all the fingers) moves to the commanded position, and the rest of the hand (the palm) remains in original place.
The condition to produce this:
1. Set gravity to 0 (`rosservice call set_physics_properties`).
Right after I set gravity to 0, `rosservice call get_model_state` on the hand shows all 6 twist values being `nan`.
2. Now `rosservice call set_model_state`, then the fingers move to the right place, but the palm doesn’t. So I’d see a hand that’s broken apart, with fingers in one place, palm in original place.
3. Then any subsequent calls to `set_model_state` would produce very odd behavior - the fingers move in relative position, rather than absolute, and the palm remains unmoved.
e.g. issuing 0.5 0 0 position again and again would move fingers farther and farther from the palm. (Expected behavior is that the fingers move to absolute world coordinates 0.5 0 0, not keep going farther).
Things I've tried:
If I don’t turn off gravity, the full hand would move correctly. Twist values are never `nan`. Issuing subsequent commands like 0.5 0 0 many times just makes the hand remain at absolute coordinates 0.5 0 0, as expected.
The obvious problem is, if I move the hand to mid-air, it falls to the ground. So I need 0 gravity simulation.
If I pause physics during the `set_model_state` call, the palm and the fingers would appear to have moved together, but once I unpause, it shows they are apart.
This only happens with specific poses, the one that always fails with 0 gravity is position 0.5 0 0, orientation 0 0 0 1.
Position 0 0 0.5 moves the whole hand correctly, 1 0 0 too.
I need to be able to set the hand to arbitrary poses, so some working and others don’t is not enough.
Resetting simulation (`rosservice call /gazebo/reset_simulation`) doesn’t make the twist values normal, they remain nan from the moment I turn off gravity.
I also checked my URDF to make sure the joint types are correct. The connection between palm and fingers is revolute, which is needed to move the fingers.
The root link, I first had it as a floating type joint, attached to world link. Then I removed the world link and the joint altogether. In either case, the same problem above happens.
It appears to be a problem with gravity being turned off?
Is there anyway to instantly move the hand to arbitrary poses, with the poses specified as 7-tuples (tx ty tz qx qy qz qw)?
I tried using Gazebo WorldPlugin to get access to a link and doing SetWorldPose() upon receiving a rosmsg, but setting like that just made the hand fly out.
I read the pages on Gazebo plugins many times, and the Gazebo Plugins API, but I cannot find one that lets me do this by a 7-tuple.
I do not know how to get the hand to an exact pose by changing the velocity or force. If there’s a way to translate directly from a 7-tuple to a velocity / force on the root link, that could help too. But I do need it to move instantly, otherwise I could just attach the hand to a robot body, which defeats the purpose of this simulation, because the robot IK movements just take forever. (maybe a remedy is to speed up physics steps? But a real solution with hand alone would be much preferred).
I saw a related post here, but it is not the same and doesn't solve my problem http://answers.ros.org/question/11134/teleporting-robot-via-rosservice-call-gazeboset_model_state-produces-weird-behaviour/
Thank you so much.
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How to set verbosity level for /gazebo node?
I am trying to display ROS_DEBUG_STREAM_NAMED messages (in terminal and rqt_console) of a class I wrote which is indirectly used by the /gazebo node. This class is part of a ros_control controller I wrote. I am able to see INFO, WARN, and ERROR, but not DEBUG.
I have tried several things that did not work. I tried adding the line log4j.logger.ros.gazebo_ros=DEBUG in ROSCONSOLE_CONFIG_FILE. It shows some debug messages, but not the ones from my class. I also tried adding the line log4j.logger.ros.gazebo_ros.safety_control_connected_controllers=DEBUG to the same file (the appended string is the name of the package/header of my class, which I am also using as the first argument in ROS_DEBUG_STREAM_NAMED). One thing that I observed is that in rqt_console, /gazebo has no loggers.
So what do I need to do to see my debug messages?
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URDF prismatic joint on 2 axis
Hi all.
I have an URDF robot model in GAZEBO with a camera and i wanna move the camera on two axis Y,Z.
I know that i have to use the prismatic type, but i cant figure out how to set it. I've tried to create two joints between the base_link and the camera_link one for the Z slide and the other one for the Y slide but it gives me errors [ERROR] [1447412621.880447632, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/set_parameters] [ERROR] [1447412621.989409540, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/compressedDepth/set_parameters] [ERROR] [1447412622.090016972, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/compressed/set_parameters] [ERROR] [1447412622.263917910, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/theora/set_parameters] [ERROR] [1447412627.912015293, 1337.300000000]: This robot has a joint named "camera_joint_y" which is not in the gazebo model. [FATAL] [1447412627.912106858, 1337.300000000]: Could not initialize robot simulation interface This is the code in my xacro file relative to the camera jointstransmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1 transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1 30.0 1.3962634 800 800 R8G8B8 0.02 300 gaussian 0.0 0.007 true 0.0 tablet_camera image_raw camera_info camera_link 0.07 0.0 0.0 0.0 0.0 0.0
I have an URDF robot model in GAZEBO with a camera and i wanna move the camera on two axis Y,Z.
I know that i have to use the prismatic type, but i cant figure out how to set it. I've tried to create two joints between the base_link and the camera_link one for the Z slide and the other one for the Y slide but it gives me errors [ERROR] [1447412621.880447632, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/set_parameters] [ERROR] [1447412621.989409540, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/compressedDepth/set_parameters] [ERROR] [1447412622.090016972, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/compressed/set_parameters] [ERROR] [1447412622.263917910, 1337.300000000]: Tried to advertise a service that is already advertised in this node [/tablet_camera/image_raw/theora/set_parameters] [ERROR] [1447412627.912015293, 1337.300000000]: This robot has a joint named "camera_joint_y" which is not in the gazebo model. [FATAL] [1447412627.912106858, 1337.300000000]: Could not initialize robot simulation interface This is the code in my xacro file relative to the camera joints
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stable contact force sensor
Hi all,
I'm using the contact sensor plugin in ros (libgazebo_ros_bumper.so) to get the robot contact forces from gazebo. It works very well for the contact positions, but it's extremely unstable in the force computation. Also after filtering the signal it still remains really noisy.
Someone can suggest me how to get a reliable contact force?
Any help is really appreciated, thanks!
I'm using Ubuntu 12.04, Ros Hydro, Gazebo 1.9.6
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How to simulate (floating) particles ?
This is what I am trying to do:
I want to create a sphere and put a large number of tiny particles in it in a floating state. When the sphere moves in any direction, the particles should be hitting the walls of the sphere in the opposite direction due to inertia.
However, I am not able to figure out how to insert such particles in gazebo. I have the sphere and gravity in place.
If particles aren't possible, then alternatively, if there is a way to put some liquid that does the above task then that shall work fine too.
Can someone please tell me how to accomplish this task. I haven't been able to find any pointers on this whatsoever. I am new to gazebo and stuck at this point; no solution found since days.
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urdf_spawner -J option not working as intended
Hi all,
I want to set the initial joint positions of a robot in gazebo simulator starting with paused physics. I used the following in the launch file.
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Objects spawning and falling down immediately in Gazebo
I am trying to simulate a table with many objects on it. But some of objects get spawned quicker than the table, and they simply fall down on the floor. Each time different ones randomly.
I am looking for way to stop physics simulation, till all the objects are spawned. Is it possible to write it somehow into launch file? "Pause physics" is a service, not a node, so it gets compicated...
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hokuyo dies in ros-gazebo, works in gazebo?
I've just upgraded to ROS Jade and Gazebo 5.0 and am having problems with my robot model.
When I take out my lidar node, my world works with both
$ gazebo myworld.world
and
$roslaunch mylaunch.launch
where mylaunch wraps myworld.world.
But when I add my hoyoyo lidar (as used to work in Indigo), it works with
$ gazebo myworld.world
but segfaults when I run gazebo through roslaunch. Any ideas?
Here's what I add to sdf for the lidar:
model://hokuyo 0.45 0 0.45 0 0.15 0 hokuyo::link chassis 0 0 1 0 0
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Fail navigation with sbpl: process has died
I am simulating my own robot in gazebo and I am using sbpl lattice planner for the navigation. First of all, it takes a lot of time for planning (I've been craddling with the parameters and is the same).
Another problem is that the navigation crashes (process die) and don't know why, it happens when I'm command the second navigation goal after accomplishing the first one. Weirdly it only occurs with far navigation goals (I mean with far not in the same room using willow_closed maps). It is having a really strange behavior and I am a bit lost because I am not a ROS expert.
Here the is the error in the navigation console:
[auroroll_move_base-8] process has died [pid 3909, exit code -11, cmd /home/atroya/auroroll_workspace/devel/lib/auroroll_move_base/auroroll_move_base cmd_vel:=auroroll/cmd_vel odom:=odom scan:=scan_front __name:=auroroll_move_base __log:=/home/atroya/.ros/log/e54a152e-8f89-11e5-b687-782bcb8f2efa/auroroll_move_base-8.log].
log file: /home/atroya/.ros/log/e54a152e-8f89-11e5-b687-782bcb8f2efa/auroroll_move_base-8*.log
When it doesn't crash, it makes the full route (at least I can see it in rviz) but it doesn't start to follow it, just stays there or it goes to a wall and crashes into it.
I think that there should be any kind of error reaching the route or something similar because I observed that it doesn't clean the global plan after arrive the first goal. May be the path follower?
Is there anyway for debugging it and see what is really happening? In the log from the error I can't see anything.
Thank you!
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gazebo 2.2.2 with ros hydro from source and TurtleBot
I installed ROS-Hydro-Desktop-Full from source in April this year on Ubuntu 13.10 (Saucy Salamander). During the install, the script installed `Gazebo 2.2.2` using APT-GET. The script also installed `gazebo_ros_pkgs 2.3.5`. Up until now, everything's been working great, including some simple Gazebo stuff I started playing with.
But now I would like to get Gazebo running with ROS, and I understand that Hydro is intended to work with Gazebo 1.9, but I have 2.2.2, and I'm not sure what to do?
I decided I would try working through the [turtlebot/Tutorials/hydro/Installation](http://wiki.ros.org/turtlebot/Tutorials/hydro/Installation) page, but in step 4.3 "rosdep install --from-paths src -i -y" fails with the following errors:
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
yocs_virtual_sensor: No definition of [rospy_message_converter] for OS version [saucy]
turtlebot_teleop: No definition of [joy] for OS version [saucy]
kobuki_random_walker: No definition of [ecl_threads] for OS version [saucy]
kobuki_node: No definition of [ecl_threads] for OS version [saucy]
kobuki_safety_controller: No definition of [ecl_threads] for OS version [saucy]
turtlebot_core_apps: No definition of [map_store] for OS version [saucy]
kobuki_auto_docking: No definition of [ecl_linear_algebra] for OS version [saucy]
kobuki_dock_drive: No definition of [ecl_linear_algebra] for OS version [saucy]
kobuki_keyop: No definition of [ecl_time] for OS version [saucy]
turtlebot_gazebo: No definition of [depthimage_to_laserscan] for OS version [saucy]
yocs_diff_drive_pose_controller: No definition of [ecl_threads] for OS version [saucy]
kobuki_ftdi: No definition of [ecl_command_line] for OS version [saucy]
yocs_velocity_smoother: No definition of [ecl_threads] for OS version [saucy]
turtlebot_bringup: No definition of [depthimage_to_laserscan] for OS version [saucy]
kobuki_driver: No definition of [ecl_command_line] for OS version [saucy]
The errors seem to indicate that my problem has to do with the version of Ubuntu I have rather than my version of Gazebo.
Since Hydro was released for 13.10, and the tutorial refers to Hydro, the errors don't quite make sense. Unless it has to do with the `gazebo_ros_pkgs` that I have installed.
I've invested a lot of time and download bandwidth building the existing install and would prefer to somehow fix this up with an incremental solution. If this possible?
Since Gazebo 2.2.2 was actually installed using APT-GET, can I remove the package and install 1.9 instead? And I can delete `gazebo_ros_pkgs` I have and download the version that normally comes with 1.9.
Will this fix the problem?
Cheers,
Nap
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How to arm or set quadcopter (Iris+) mode while running ArduCopter SITL with ROS/Gazebo?
I am referring to http://dev.ardupilot.com/wiki/using-rosgazebo-simulator-with-sitl/
Based on the code, the following is my understanding of what's happening -
- You receive input to ROS (mavros) via UDP socket as motor_speeds. These inputs are received from the SITL and ArduCopter code.
- You publish these motor speeds to the corresponding topic for Gazebo simulation.
- Data from the simulated vehicle is then send back to SITL code, over the UDP socket.
However, I still don't know how I can use Mavros alongside with SITL to be able to send commands to arm, disarm, takeoff, or change the mode over the socket. Any guidance regarding this would be appreciated!
(Please let me know if any clarification is required)
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How to run baxter gripper_keyboard.py with custom electric grippers
I'm trying to run `gripper_keyboard.py` with my custom Baxter URDF that includes the electric grippers. But i keep getting an error message saying that "custom grippers cannot be used".
Has anyone encountered this before?
Thanks
Ubuntu 14.04.2 LTE, ROS-indigo, Gazebo2
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Help Building Custom BAXTER grippers
I need help figuring out these two errors. They are both related, so solving one should solve the other.
I'm building custom grippers for Baxter in Ros-Indigo (ubuntu 1404.2). I've built a custom URDF file along with a custom launch file. This error is the last error I have to figure out.
[baxter_sim_kinematics_left-6] process has died [pid 27862, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics left __name:=baxter_sim_kinematics_left __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_left-6*.log
[baxter_sim_kinematics_right-7] process has died [pid 27921, exit code -11, cmd /home/veyorokon/ros/baxter_ws/devel/lib/baxter_sim_kinematics/kinematics right __name:=baxter_sim_kinematics_right __log:=/home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7.log].
log file: /home/veyorokon/.ros/log/9cdf8088-940e-11e5-9ec4-b8e85645ebf8/baxter_sim_kinematics_right-7*.log
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