I followed the tutorial of pr2 simulation:
http://wiki.ros.org/pr2_simulator/Tutorials/StartingPR2Simulation
roslaunch gazebo_ros empty_world.launch
this command is fine, the gazebo window shows an empty world. while run the following command :
roslaunch pr2_gazebo pr2.launch
an error occurs:
[pr2.launch] is neither a launch file in package [pr2_gazebo] nor is [pr2_gazebo] a launch file name
There's no package named 'pr2_gazebo' in jade, I tried to find it with apt-get:
aptitude search pr2
there are 6 packages in jade related to pr2:
ros-jade-pr2-common
ros-jade-pr2-dashboard-aggregator
ros-jade-pr2-description
ros-jade-pr2-machine
ros-jade-pr2-mechanism-msgs
ros-jade-pr2-msgs
none of them contains pr2.launch. So, how can I run simulation for pr2 in jade?
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how to launch pr2 simulation in jade
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How can I spawn a Robotiq Gripper with an UR5 in Gazebo and Rviz using Moveit! ?
Hi there,
I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper.
[Github/universal_robot](https://github.com/ros-industrial/universal_robot),
[Github/robotiq](https://github.com/ros-industrial/robotiq)
I integrated the gripper by referencing it in the ur5_robot.urdf:
transmission_interface/SimpleTransmission PositionJointInterface 1
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Message Type mismatch in Baxter while using Gazebo Simulator
Hi,
I am learning Baxter Robot using ROS in C++ language. For getting used to with ROS and Baxter, I am writing a C++ program to control Joint position. Before writing the code, I looked in the list of rostopics, by executing `rostopic list` command. Later on, I found out that `/robot/limb/right/joint_command` topic is used for controlling the joints. I looked in this ros message for more info. Below is the command run at terminal-
[baxter - http://localhost:11311] ravi@dell:~/ros_ws$ rostopic info /robot/limb/right/joint_command
Type: sensor_msgs/JointState
Publishers: None
Subscribers:
* /gazebo (http://localhost:45341/)
Based on the above output, I write following code-
ros::init(argc, argv, "move_joints");
ros::NodeHandle node;
ros::Publisher joint_pub = node.advertise("/robot/limb/right/joint_command",10);
sensor_msgs::JointState joint_state;
joint_state.name.push_back("right_e0");
joint_state.name.push_back("right_e1");
//The remaining lines are not being shown here, to shorten the code
joint_state.position.push_back(0.0);
joint_state.position.push_back(0.0);
//The remaining lines are not being shown here, to shorten the code
I complied the code using `catkin_make` and it compiled successfully without any error. But while running the code, it throws the error. Please see the below output from terminal-
[baxter - http://localhost:11311] ravi@dell:~/ros_ws$ rosrun tools move_joints
[ERROR] [1448935306.651614576]: Client [/gazebo] wants topic /robot/limb/right/joint_command to have datatype/md5sum [baxter_core_msgs/JointCommand/19bfec8434dd568ab3c633d187c36f2e], but our version has [sensor_msgs/JointState/3066dcd76a6cfaef579bd0f34173e9fd]. Dropping connection.
This gives me a hint that the message type mismatch is occurred. Somebody help me to overcome with this issue.
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How do I publish gazebo position of a robot model on odometry topic.
Hello,
I have a robot model that runs using teleop key, and I want to publish its position and velocity on odometry topic. How should I achieve this?
Thanks.
Rahul
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How to create multiple instances of robot from single urdf file?
How can I create multiple instances of robot from single urdf file?
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I cant find my parsed urdf model in rviz
I built a robot model in solidworks and exported using plug-in as urdf. Then i parsed the file successfully and tried to visualize it in rviz but it failed to show up the model. below is my urdf file and result in rviz
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How to enable/add camera on Kuka Youbot in Gazebo?
Hi I am pretty new to ROS, Gazebo, and Ubuntu. Now I'm trying to add a camera on the Kuka Youbot Model which I installed from the youbot website: http://www.youbot-store.com/wiki/index.php?title=Gazebo_simulation&hmswSSOID=10b4d7be36c130126e02a9c81ce579a7f71c954f.
So I'm using the Indigo version of ROS, and I've tried to enable the cameras that came with the package but I couldn't get any of them to appear on the simulation. From what I know, to use one of the camera, you just include the refernce and simulation tag of the camera in the youbot.urdf.xacro file. I tried that but didn't work. I need this for a senior design project, in which i need to simulate lane keeping in the road using cameras. I would appreciate any help from anyone with experience with this. Thanks.
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Sleep time is larger than clock resolution, skipping sleep
Hello,
I am using Ubuntu14. Everytime i launch turtlebot(gazebo) in ROS Indigo, i am constantly getting the following warning:
"warning [Time.cc.205] Sleep time is larger than clock resolution, skipping sleep"
Does anyone know why?
Thanks,
Emre
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Gazebo 4 - Ros interaction ??
Hi!
I'm doing a Gazebo based simulator, I have some restrictions (I have to use Ros Fuerte), so I'm using Ubuntu 12 and Gazebo 4 (I saw here http://gazebosim.org/ that it was the last compatible with Ubuntu Precise).
I'm not able to generate any Ros topics from my cameras or other sensors, only see them using the gz topics:
gzserver room.world --verbose
gz topic -v /gazebo/default/camlens_left/left_camera/image (I need to pass this to a ROS topic).
My question is, is there any way to interact between Ros Fuerte and Gazebo 4 or do I have to use the first version of Gazebo and rewrite my models and world?
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I need a working Baxter URDF with Electric Grippers.
I need a Baxter URDF with parallel electric grippers.
Does anyone have one that works and can be controlled with the keyboard gripper controller?
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constant transmision values for Gazebo
Hi all,
I have a simulated PTU which is not controlled, so that it constantly swings around in Gazebo. I don't want to spend time writing a controller for it, I would just be happy if the PTU could just stay at a fixed angles but I don't know how to do it without writing a controller.
Is there a way to tell Gazebo that the PTU should always stay at a fixed set of angles?
I suppose it must be something inside the transmission file, which currently contains the following:
transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1 transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1
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How can I access the bumper sensors on a turtlebot in a simulation?
I've been working on a project, and I need to turn a certain direction when a turtlebot bumps into something. I'm looking for a ROS plugin to use in a simulation in Gazebo. I can't seem to find anything in any turtlebot repositories or on the ROS wiki.
Thank you.
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Solution to "nan value in transform" error
I am trying to simulate a Baxter bot in Gazebo2- Indigo. I am getting the following error and need help debugging it.
Here is the first message that I am getting:
INFO] [WallTime: 1450912978.152709] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false].
Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]
[ INFO] [1450912979.083195846, 2.069000000]: Block laser plugin missing , defaults to 101
[ INFO] [1450912979.083362043, 2.069000000]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Then the following two errors are continuously sent to the terminal.
[ERROR] [1450913124.345122432, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1450913124.345166827, 3.380000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
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Can somebody explain me the relation between .xacro file and .gazebo file and what's the philosophy behind them?
Hi,
I am analyzing some code base about a robot model which has an urdf folder in the package. The urdf folder contains .xacro and .gazebo file. I am not able to understand how these two files are related and they use .yaml configuration? What's the philosophy behind them and while writing .xacro and .gazebo file what should be kept in mind?
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How to impart action of plugin to different instances of the robot model separately?
How to apply plugin to specific instance of model?
I added following code in the launch file to create different instances of robot model:/manycar2 doesn't affect anything. As you can see my motive is to just move manycar2 and not all the instances.
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ros_controller not making -indigo
Hello,
I am trying to make my own costume robot in gazebo. I have been following this tutorials
http://www.generationrobots.com/en/content/75-gazebo-and-ros
http://www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Simulate_Your_Robot_in_Gazebo
But when I try to run
catkin_make
I get the following error
Could not find a package configuration file provided by "ros_control" with
any of the following names:
ros_controlConfig.cmake
ros_control-config.cmake
Add the installation prefix of "ros_control" to CMAKE_PREFIX_PATH or set
"ros_control_DIR" to a directory containing one of the above files. If
"ros_control" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
omni_shot/CMakeLists.txt:7 (find_package)
This is my CMakeList.txt
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
controller_manager
ros_control
ros_controllers
)
Do I need to include ros_controller and ros_controllers? When I remove them I get thses errors,
[ERROR] [1451315533.235070013, 0.140000000]: No valid hardware interface element found in joint 'front_right_wheel_joint'.
[ERROR] [1451315533.235176421, 0.140000000]: Failed to load joints for transmission 'front_right_wheel_joint_trans'.
[ERROR] [1451315533.235239698, 0.140000000]: No valid hardware interface element found in joint 'front_left_wheel_joint'.
[ERROR] [1451315533.235290363, 0.140000000]: Failed to load joints for transmission 'front_left_wheel_joint_trans'.
[ERROR] [1451315533.235343496, 0.140000000]: No valid hardware interface element found in joint 'back_right_wheel_joint'.
[ERROR] [1451315533.235391198, 0.140000000]: Failed to load joints for transmission 'back_right_wheel_joint_trans'.
[ERROR] [1451315533.235439370, 0.140000000]: No valid hardware interface element found in joint 'back_left_wheel_joint'.
[ERROR] [1451315533.235487324, 0.140000000]: Failed to load joints for transmission 'back_left_wheel_joint_trans'
I have been stuck on this for over a day, can anyone please help me? I am very confused.
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question about gazebo
i'm a newer to gazebo. I followed installation tutorial in http://gazebosim.org to install gazebo, but when i run 'gazebo', there is no response. And when i run 'gzserver', no response , too. then, I run 'gzclient', the gazebo GUI appeared. But the area of world view is black,I can't see anything in this area. How can i solve it?
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On the step 2.1.2 "rosdep install --from-paths src --ignore-src --rosdistro indigo -y" the ROS-full installation fails with details below. Can anyone help?
executing command [brew install gazebo]
Warning: osrf/simulation/gazebo1-1.9.7 already installed> ERROR: the following rosdeps failed to install homebrew: Failed to detect successful installation of [gazebo]
System Details:
Mid2010 Mac mini
OSX 10.10.5
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How to use existing ROS package to build my own self navigation robot?
I have designed a differential drive robot similar to Turtlebot in solidworks and launched it in Gazebo successfully after developing a URDF model out of it. I want to simulate the robot in gazebo for self-navigation using ROS navigation stack. I want to use the existing ROS stakes developed for robots like Turtlebot but i cant get clear idea about how to proceed with this. Can anyone direct me to the resources.
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Gazebo model problems
Hi all
I want to run my real robot in ros so I already wrote a simple hardware controller. I also created xacro model. First I wanted to simulate robot in gazebo and tried there follow joint trajectory action. I did this tutorial http://gazebosim.org/tutorials?tut=ros_control . I am using Faulhaber MCDC 3003 motors which are pretty low effort but have strong transmissions. When I want to simulate robot in gazebo he is doing what he want. Joints are just moving around and the motors cannot properly move with them. Is there problem with PID setup or what can be the problem. I cannot properly tune PID gains in the last part of tutorial because the PID tuner did not show up after clicking on PID.
I also cannot setup inertia matrix. Is there a way how to avoid it ?.
Here is my robot in real. (Documentation is horrible I needed to measure it myself and try to create proper model)
https://www.youtube.com/watch?v=aZYC8IAiYCk
life my hardware controller is working correctly but I just cannot simulate. Can you help me with any better tutorial or how to setup motors like this. For example when I want them to hold robot at the begging in zero positions.
Thanks for any help.
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