Hello all,
I am using an openni_kinect in Gazebo and have been trying to make it zoom out. I have adjusted the focal length (which is currently 554 mm using rostopic info cameras/kinect/...) to lower focal lengths such as 300 in the URDF but it seems to have no effect. Below is the URDF:
1 true 1.047 640 480 R8G8B8 0.1 100 true 10.0 kinect3 kinect_pc_frame3 rgb/image_raw depth/image_raw depth/points rgb/camera_info depth/camera_info 0.4 0.07 0.0 0.0 0.0 0.0 0.0 300.0 /cameras
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Kinect in Gazebo: Zooming Out
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Gazebo seg fault Ubuntu/Indigo 14.04.02
I am running in native mode on i386.
I am working out of the instructions in "learning Robotics using Python" by Lentin Joseph.
I ran **sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control**
I got **roscore** to run and then:
**rostopic list** which shows:
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/set_model_state
/rosout
/rosout_agg
Then: **rosrun gazebo_ros gazebo**
The GUI comes up for a few seconds and then crashes.
First it connects to the gazebo master.
Messages: [INFO] [/gazebo/set_physics_properties] is now available [INFO] Physics dynamic reconfigure ready
Segmentation Fault (core dumped)
30: kill: invalid signal number or name: SIGINT
? Does anyone know the solution?
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model not moving in Rviz but is moving in Gazebo
Hello,
I am trying to create costume robot. I have been trying to follow this tutorial.
www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Build_Your_Own_URDF_Robot
I can get the robot up in Gazebo and move it with my controller but I cannnot get it to move in Rviz.
My goal is to use the navigation stack to create paths for the robot to follow. (if someone know a way to do this with out Rviz I am all for it) I am controlling it with joystick inputs and have independently controlled wheels(balls).
Thank you for any help. I have spent so many hours on this.
Here is my Xacro description file and launch file.
omnishot.urdf.xacro
false Gazebo/Yellow false /mybot base_footprint cmd_vel odom odom 20.0 Gazebo/Grey false transmission_interface/SimpleTransmission EffortJointInterface 1
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Single actuator for two moving linkages in a gripper
Hi,
I have a custom robotic gripper, that has two moving finger links actuated via single servo, similar to [this](http://www.aliexpress.com/item-img/High-Quality-Robot-Mechanical-Arm-Manipulator-Gripper-Mechanical-Paw-for-MG996R-Servo-Arduino/32539984376.html?spm=2114.10010108.100005.12.AVTGxz) one. So the first link joint is actuated directly from a servo and passes the torque to the second via 1:1 gear. My question is, what is the proper way to model such gripper in urdf/gazebo/ros_control? Is it possible to use a single interface like JointPositionController to move both finger links in simulation? I would appreciate any advice.
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How does the Planer move plugin work?
I am trying to get the build a omni-directional robot in gazebo. I got it working model by applying forces to each wheel following [this](http://www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Build_Your_Own_URDF_Robot) tutorial. But the problem is that I also need to do odometry, which I cannot do controlling the model this way.
I want to do path planning and navigation.
I cam across [this](http://answers.ros.org/question/212889/gazebo-planar-move-plugin-for-omni-directional-wheel/?answer=220467#post-id-220467) but I do not understand how I use it. Do I still control each wheel individual by setting commands to each wheel use the \cmd_vel topic? Or Do I ignore the individual wheel speeds and just use the /cmd_vel for the velocity of the robot? I have been stuck on this for a while
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Connect two Youbots with a wire in gazebo
I'm simulating a wire using multiple joints linked together. The two youbots have its own separate urdf file. SO I was able to link 10 joints to the front of one Youbot, but I cannot link the last joint to the rear of the other Youbot. How do i make the last joint the parent link of the base of the other Youbot? Any ideas?
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gazebo 6.0 conflict with gazebo 2.2.6(came with ROS indigo)
When I finished installing ROS Indigo, I noticed that it already came with Gazebo(version2.2.6).
I tried to directly install the 6.0 Gazebo,
but, it was not possible because it looks like 6.0 version and 2.2.6 version conflict with each other.
Actually, I have tried to install gazebo as described in
http://gazebosim.org/tutorials?tut=install_ubuntu&ver=6.0&cat=install
***but, it says that : E: Unable to correct problems, you have held broken package***
It looks like that I have Gazebo(version2.2.6) cause this problem
(gazebo which command indicate that I have Gazebo(version2.2.6)
***How can I remove Gazebo(version2.2.6) came with ROS indigo?***
I don't know how to remove Gazebo(version2.2.6) and install gazebo > 6.0 in order to
run make posix_sitl_default gazebo as described in http://dev.px4.io/simulation-gazebo.html
My situation is as follows:
----------
**wkyoun@wkyoun-XPS-13-9343:~$ sudo apt-get install gazebo6**
[sudo] password for wkyoun:
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
gazebo6 : Depends: libgazebo6 (= 6.5.1-1~trusty) but it is not going to be installed
Depends: libsdformat3 but it is not going to be installed
Depends: gazebo6-common (= 6.5.1-1~trusty) but it is not going to be installed
Recommends: gazebo6-plugin-base
E: Unable to correct problems, you have held broken packages.
Also, I tried to run Gazebo as described in
http://dev.px4.io/simulation-gazebo.html
but the error is found:
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**wkyoun@wkyoun-XPS-13-9343:~/Firmware$ make posix_sitl_default gazebo**
make -C /home/wkyoun/Firmware/build_posix_sitl_default -j4 --no-print-directory gazebo
[ 2%] Built target df_driver_framework
[ 3%] Built target git_matrix
[ 3%] Built target git_genmsg
[ 4%] Built target git_gencpp
[ 4%] Built target prebuild_targets
[ 4%] Built target git_mavlink
[ 5%] Built target generate_topic_listener
[ 6%] Built target xml_gen
[ 6%] Built target git_driverframework
[ 6%] Built target mixer_gen
[ 7%] [ 7%] Built target msg_gen
Built target git_jmavsim
[ 7%] Built target git_gazebo
[ 7%] Built target git_uavcan
[ 7%] Built target platforms__common
[ 8%] Built target drivers__boards__sitl
[ 8%] Built target drivers__pwm_out_sim
[ 11%] Built target platforms__posix__px4_layer
[ 15%] Built target drivers__device
[ 15%] [ 15%] Built target platforms__posix__drivers__gpssim
Built target platforms__posix__drivers__adcsim
[ 16%] [ 23%] Built target platforms__posix__drivers__tonealrmsim
Built target platforms__posix__work_queue
[ 24%] [ 25%] Built target platforms__posix__drivers__accelsim
Built target platforms__posix__drivers__ledsim
[ 26%] Built target platforms__posix__drivers__airspeedsim
[ 27%] Built target platforms__posix__drivers__barosim
[ 27%] Built target platforms__posix__drivers__rgbledsim
[ 27%] Built target systemcmds__param
[ 27%] Built target platforms__posix__drivers__gyrosim
[ 27%] Built target systemcmds__esc_calib
[ 28%] Built target systemcmds__mixer
[ 29%] Built target systemcmds__ver
[ 29%] Built target systemcmds__reboot
[ 30%] Built target systemcmds__topic_listener
[ 31%] Built target systemcmds__perf
[ 32%] Built target modules__param
[ 32%] Built target modules__sensors
[ 37%] Built target modules__uORB
[ 40%] Built target modules__systemlib__mixer
[ 41%] Built target modules__attitude_estimator_ekf
[ 42%] Built target modules__simulator
[ 43%] Built target modules__attitude_estimator_q
[ 48%] Built target modules__mavlink
[ 49%] Built target modules__ekf_att_pos_estimator
[ 51%] [ 54%] Built target modules__position_estimator_inav
Built target modules__vtol_att_control
[ 55%] Built target modules__mc_att_control
[ 55%] Built target modules__mc_pos_control
[ 61%] Built target modules__navigator
[ 63%] Built target modules__mc_pos_control_multiplatform
[ 65%] [ 67%] [ 69%] Built target modules__fw_att_control
Built target modules__land_detector
Built target modules__mc_att_control_multiplatform
[ 70%] Built target modules__dataman
[ 71%] Built target lib__mathlib
[ 72%] Built target lib__external_lgpl
[ 75%] Built target lib__ecl
[ 77%] [ 78%] Built target modules__controllib
[ 79%] Built target modules__sdlog2
Built target lib__conversion
[ 85%] Built target modules__commander
[ 85%] [ 85%] Built target lib__mathlib__math__filter
Built target lib__geo
[ 86%] Built target lib__geo_lookup
[ 87%] Built target lib__launchdetection
[ 88%] [ 88%] Built target lib__runway_takeoff
Built target lib__terrain_estimation
[ 90%] Built target modules__fw_pos_control_l1
[ 98%] Built target modules__systemlib
[100%] Built target mainapp
SITL ARGS
rc_script: posix-configs/SITL/init/rcS
debugger: none
program: gazebo
model: none
build_path: /home/wkyoun/Firmware/build_posix_sitl_default
empty model, setting iris as default
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- thread
***-- checking for module 'gazebo>=6.0'***
-- package 'gazebo>=6.0' not found
CMake Error at /usr/share/cmake-3.2/Modules/FindPkgConfig.cmake:344 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.2/Modules/FindPkgConfig.cmake:506 (_pkg_check_modules_internal)
CMakeLists.txt:7 (pkg_check_modules)
-- Configuring incomplete, errors occurred!
See also "/home/wkyoun/Firmware/Tools/sitl_gazebo/Build/CMakeFiles/CMakeOutput.log".
make[4]: *** [src/firmware/posix/CMakeFiles/gazebo] Error 1
make[3]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/all] Error 2
make[2]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/rule] Error 2
make[1]: *** [gazebo] Error 2
make: *** [posix_sitl_default] Error 2
wkyoun@wkyoun-XPS-13-9343:~/Firmware$
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segmentation fault in gazebo
I use ubuntu 14.04, ros indigo, verion 1.11.9.
I run this command:
`roslaunch turtlebot_gazebo turtlebot_world.launch`
Sometimes I have a segmentation fault (core dumped). Then I try to rerun the command. It can work as usual or fail again. Usually after three or four rerun it works correctly. You can see the error below (or on the picture [2.png](/upfiles/14525311548846028.png)). I have no idea how to repeat this bug, but it appears quite often. Do you have any ideas how can I fix this problem?
I’ve seen some questions about segmentation fault but there was no answer which can help.
[ INFO] [1451979222.241382211, 0.190000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1451979222.246247047, 0.190000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1451979222.246448570, 0.190000000]: GazeboRosKobuki plugin ready to go! [mobile_base] [spawn_turtlebot_model-4] process has finished cleanly
log file: /home/nadya/.ros/log/a2c15d8e-b37e-11e5-aa96-c485088c759e/spawn_turtlebot_model-4*.log
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 11524, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/nadya/.ros/log/a2c15d8e-b37e-11e5-aa96-c485088c759e/gazebo_gui-3.log]. log file: /home/nadya/.ros/log/a2c15d8e-b37e-11e5-aa96-c485088c759e/gazebo_gui-3*.log
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Circular motion in navigation stack
Turtlebot simulated in Gazebo, using move_base for navigation in an empty map. But the robot doesn't follow a straight path to the destination. It keeps rotating (for the scans) while moving forward. How could i avoid this since its an empty map and the robot shouldn't be scanning that much. I think this must be some setting in the costmap or any similar thing which I am unable to set.
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Opening A .URDF in Gazebo
I created a .URDF from SolidWorks using SW2URDF plug in, but the model doesn't appear in the insert model list in GAZEBO, even after i paste relevant files in .Gazebo folder. I know its basic stuff but please help. How do I open my model in GAZEBO after creating a URDF from SOLIDWORKS.
Thankyou.
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nan value after changing inertia matrix
Hello everybody,
I am the following problem with my robot (rear wheels don't touch the ground):
So I have changed the inertia of my links but I got an error when I change the matrix of some wheels (it's strange because the link in the error message is not linked to the wheels involved in the problem):
> [ERROR] [1453136122.044577471, 24.646000000]: Ignoring transform for child_frame_id "fourche" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
Urdf description of my wheels (diameter: 125mm, height: 50mm) :
false
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Install Indigo on ubuntu 15.04 [vivid]
I am trying to install ROS Indigo on Ubuntu 15.04 from source.
After trying to install dependencies in the catkin workspace I'm getting the following error message:
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
gazebo_ros: No definition of [gazebo] for OS version [vivid]
gazebo_plugins: No definition of [gazebo] for OS version [vivid]
I have tried working through the answer in [this previously asked question](http://answers.ros.org/question/196076/building-indigo-on-1410/). But, unfortunately the same error message persists when trying to install dependencies.
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Is there ROS support for PAL (Physics Abstraction Layer) or other physics engines (not only ODE or Bullet)?
I found that PAL support many physical engines.
I specially interested in not only rigid models but also fluid or breakable models.
Here is the list of PAL features now:
Physics Engines
Box2D (experimental)
Bullet
Dynamechs(deprecated)
Havok (experimental)
IBDS (experimental)
JigLib
Meqon(deprecated)
Newton
ODE
OpenTissue (experimental)
PhysX (a.k.a Novodex, Ageia PhysX, nVidia PhysX)
Simple Physics Engine (experimental)
Tokamak
TrueAxis
File Formats
Collada
Scythe
PAL XML(deprecated)
Collision subsystem
Solver subsystem (Multithreaded / Hardware acceleration)
Bodies (Static and Dynamic)
Box
Capsule
Compound Bodies
Convex
Sphere
Geometries
Box
Capsule
Convex Mesh
Concave Mesh (Terrain)
Height field (Terrain)
Plane (Terrain)
Sphere
Links
Spherical (Ball and Socket) Link
Revolute (Hinge) Link
Prismatic (Slider) Link
Generic 6DOF Link
Sensors
Contact
Compass (Angular position)
GPS (Global Positioning System - Position)
Gyroscope (Angular velocity)
Inclinometer (Angular position)
PSD (Position Sensitive Device - Ray casting)
Sonar (Ray casting)
Velocimeter (Linear velocity)
Transponder (Distance between two objects)
Actuators
Force actuator (Generic)
DC Motor
Servo Motor
Hydrofoil
Propeller
Spring
Fluids
Particle Fluids (SPH)
Grid-Based Fluids (Dampened Shallow Wave)
Buoyancy Force
Drag & Lift Forces
Vehicles
I also find three engines:
1. [irrlicht engine](http://irrlicht.sourceforge.net/) also seems to be an excellent realtime 3D engine(pretty beautiful).
2. [SOFA Framework](http://en.wikipedia.org/wiki/SOFA_%28Simulation_Open_Framework_Architecture%29) (Deformable models,Rigid models,Fluid models,Collision models)
3. [SICONOS(simulation of mechanical systems)](http://siconos.gforge.inria.fr/)
This has special functions I'm not really understand it is useful or not.
Hybrid systems and switched systems
Mechanical systems with contact, impact and friction
Electrical circuits with ideal and piecewise linear components
Differential inclusions and Complementarity systems
Sliding mode control and Optimal Control with state constraints
Linear Complementarity problems (LCP)
Mixed Linear Complementarity problems (MLCP)
Nonlinear Complementarity Problems (NCP)
Friction-contact problems (2D or 3D)
Primal or Dual Relay problems
Quadratic Programming problems (QP)
What ROS already support now?
What engines will be able to support in the future?
Thank you~
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How to start gazebo_ros gazebo with DART Physics engine?
I am trying to spawn a manipulator with urdf in gazebo and control using ros_control. How do I set the physics engine to be dart? I can get gazebo to run on its own by running: gazebo -e dart. How would I do the same with rosrun gazebo_ros gazebo?
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Part of my Robot gets embedded inside the ground for ROS and Gazebo
While Spawning my URDF in ROS and Gazebo half of my Bipedal Robot gets embedded inside the ground. I know it has to do with the way my URDF tree is structured, but I cant figure out a way to tell ROS or Gazebo that my foot link should be in contact with the floor. Please any clue or help would be useful. Thanks
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Gazebo, simulation, KnowRob, PointClouds
Hi All,
As far as I understand it, KnowRob (and CRAM) are using a Bullet world to do simulation and a visualization tool based on it.
Are people going with Gazebo now as their visualization tool now? Does that work seamlessly with all of the point clouds and KnowRob/CRAM simulations (over ROS messaging)?
What would also be nice is to have independent simulations running in the Gazebo package and have messages generated from within the software to be published. Say, a ball (or a hundred) is bouncing around inside the simulation. Can the ball trigger publishing a message when it bumps into something in the sim?
Any insights appreciated.
-Todd
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Well, I have a urdf, mesh(stl files), manifest file, display.launch and gazebo.launch files.
Well, I have a urdf, mesh(stl files), manifest file, display.launch and gazebo.launch files. What do i need to do next to launch my robot in gazebo or atleast spawn it in gazebo. Tutorials are helpless till now. Do i need to make a catkin_ws or some package or something....please help... This maybe basic but i am new to ROS and even LINUX. I would appreciate if everything is explained in detail starting from very basics. I have installed ROS indigo and gazebo.
My files can be viewed from this link:
http://www.megafileupload.com/eo8y/Assem1.rar (click on free user slow download, its rar and my assembly name is Assem1)
Thankyou
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UR5 - Gazebo Joint Position controller
Dear all,
I need to **simulate a velocity control** of a UR5 robot in Gazebo + ROS. But current packages of UR only has **a joint trajectory controller,** But I want to control individual joint velocities over time.
How can I do this using existing controller ?
or If I create **joint position controllers** how can I find pid gains that will do the simulation correctly ?
Are any other robot manipulator model with tuned position controllers for Gazebo simulation ?
Your help is really appreciated.
Thanks.
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Porting Gazebo GUI to QT Gui Platform
Hi All Dear friends!! first of all I have worked on a specific project which based on Qt5 Gui C++ and for now I have integrated old qdude Ros Qt template with Catkin to QT5 GUI project I develop. My aim is to transport Gazebo(also its1.9 version and Ros Hydro installed) Display to a normal QtGui project which works ROS network(involves Ros Master Url,Ros IP). as far as I searched a lot topic but I couldnt find reasonable solutions on that. also I viewed gazebo source code as well, its huge source. as a result there is no chance. İf you have experience or advice or workaround towards my problem and You can help me it would be appreciated. also I m sorry my english! :(
Best Regards
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Simulation of multiple Husky robots
Hello all,
I'm relatively new to ROS and I'm working on simulation of multiple Clearpath Huskies running some simple obstacle avoidance code that I've written. I've installed and used the husky_gazebo package to successfully simulate a single robot with my code, but I'm running into difficulties when I try to add more. The way I'm hoping to accomplish this is through the use of namespaces, but I'm afraid I don't understand them very well. Here is the launch file where I'm attempting to do this:
target_frame: base_link # Leave empty to output scan in the pointcloud frame
tolerance: 1.0
min_height: 0.05
max_height: 1.0
angle_min: -0.52 # -30.0*M_PI/180.0
angle_max: 0.52 # 30.0*M_PI/180.0
angle_increment: 0.005 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 0
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