I've been trying to use the husky_gazebo with the kinect sensor but not the laser. I also want to use a custom world which I setup by saving an empty world from gazebo. I updated GAZEBO_RESOURCE_PATH and passed the arg for world_name. For example:
roslaunch husky_gazebo husky_empty_world.launch laser_enabled:=false kinect_enabled:=true world_name:=worlds/empty22.world
The problem is that most of the time when I echo the /camera/depth/image_raw or /camera/depth/points, the gzerver crashes.
I type:
rostopic echo /camera/depth/points
And the other window prints:
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 31759, exit code 139, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/gazebo-2.log].
log file: /home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/gazebo-2*.log
I also don't see the log that is mentioned above:
user@ubuntu:~$ ls /home/user/.ros/log/00cb419a-cac9-11e5-abe7-001c42292c2b/
base_controller_spawner-5.log robot_state_publisher-4-stdout.log spawn_husky_model-10.log
base_controller_spawner-5-stdout.log roslaunch-ubuntu-31720.log spawn_husky_model-10-stdout.log
ekf_localization-6-stdout.log rosout-1-stdout.log twist_mux-8-stdout.log
master.log rosout.log
What am I missing? It seems like if I start a fresh window and run with the kinect enabled but not using my world, then the above works fine some of the time.
UPDATE: It seems this issue is limited to one of the computers (a parallels VM) that I'm using. There may be some other resource issue but I'll keep looking.
↧
husky_gazebo with kinect and no laser crashes when rostopic echo anything in /camera/depth
↧
undefined symbol error in gazebo
I wanna make camera gazebo plugin so i tried to follow this tutorial
http://www.theconstructsim.com/create-a-ros-sensor-plugin-for-gazebo/
you can check that cpp source and .h files...
but it have some errors when i build it...
gzserver: symbol lookup error: /home/gwkim/light_sensor_ws/devel/lib/libgazebo_light_sensor_plugin.so: undefined symbol: _ZN6gazebo20GazeboRosCameraUtilsC2Ev
[gazebo-2] process has died [pid 24539, exit code 127, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver --verbose -e ode /home/gwkim/light_sensor_ws/src/gazebo_light_sensor_plugin/worlds/light.world __name:=gazebo __log:=/home/gwkim/.ros/log/f9e256d6-caee-11e5-8656-001e6595291c/gazebo-2.log].
log file: /home/gwkim/.ros/log/f9e256d6-caee-11e5-8656-001e6595291c/gazebo-2*.log
i tried to serch its answer but i didnt find correct solution
i need your help.
im using 14.04 ubuntu and indigo version.
please answer here or send me e-mail please.
↧
↧
Multi robot position_controller problem
Hello everybody,
I am trying to spawn several robot which use ros_control. I have a problem with my position controllers :
> [INFO] [WallTime: 1454516624.223580] [1.800000] Loading controller: left_arm_position_controller
[ERROR] [1454516624.266122670, 1.839000000]: Could not find parameter robot_description on parameter server
[ERROR] [1454516624.266369289, 1.839000000]: Failed to parse urdf file
[ERROR] [1454516624.266397313, 1.839000000]: Failed to initialize the controller
[ERROR] [1454516624.266420609, 1.839000000]: Initializing controller 'left_arm_position_controller' failed
[ERROR] [WallTime: 1454516625.272021] [2.753000] Failed to load left_arm_position_controller
But I have two velocity controllers (defined in the same files) which are working fine.
I have a launch file that include my robot launch file :
main.launch
↧
Set two model states simultaneously
Hello, I use ros with gazebo and I want to animate the movement of two models in an empty world I have created. I change the position of the models using:
rosservice call /gazebo/set_model_state ...
But it moves one model at a time. Is there a way to move the two models simultaneously so I can have a smoother animation?
↧
gazebo menu
Hello, ROS Community!
My question looks like foolishly, but there are no any similar questions in ROS answers...
I can't find the application menu in Gazebo. [Here](http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b2) in "The Menu" section, it illustrated how menu should be to look in general cases, but it isn't like that in my case
The screenshot : 
↧
↧
Dis-synchronization in moving robot in gazebo and rviz with custom base_controller
Hi! I've try to implement [base_controller](https://github.com/k4jt/ros_simple_ws/blob/master/src/drive_base_tutorial/src/base_controller.cpp) for moving my robot without gazebo plugin.
You may try to launch it and see
**$ roslaunch robobox display_base.launch**
**$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py**
(commit 85fee06fd13d389540434441f4f878435e007904)
↧
Fail to control two husky robots in Gazebo
I want to control two husky robots in Gazebo but only one of them can be controled.
launch file 1:
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: 1 husky1 husky2 husky1 50.0 base_link imu/data 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 40 husky1 base_link base_link navsat/fix navsat/vel 49.9 8.9 0 0 0.0001 0.0001 0.0001 true true true true true true true husky2 50.0 base_link imu/data 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 0.005 40 husky2 base_link base_link navsat/fix navsat/vel 49.9 8.9 0 0 0.0001 0.0001 0.0001 true true true true true true true , set to "husky2_tf"
[ INFO] [1455058855.145273929, 0.517000000]: Loading gazebo_ros_control plugin
[ INFO] [1455058855.145428824, 0.517000000]: Starting gazebo_ros_control plugin in namespace: husky1
[ INFO] [1455058855.146402070, 0.517000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/husky1/robot_description] on the ROS param server.
[ INFO] [1455058855.408804831, 0.517000000]: Loaded gazebo_ros_control.
[ INFO] [1455058855.408932601, 0.517000000]: Loading gazebo_ros_control plugin
[ INFO] [1455058855.408978330, 0.517000000]: Starting gazebo_ros_control plugin in namespace: husky2
[ INFO] [1455058855.558887941, 0.517000000]: Controller state will be published at 50Hz.
[ INFO] [1455058855.560666143, 0.517000000]: Wheel separation will be multiplied by 1.875.
[ INFO] [1455058855.561797694, 0.517000000]: Wheel radius will be multiplied by 1.
[ INFO] [1455058855.562852731, 0.517000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1455058855.563905155, 0.517000000]: Base frame_id set to base_link
[ INFO] [1455058855.564957183, 0.517000000]: Publishing to tf is disabled
[ INFO] [1455058855.579660257, 0.517000000]: left wheel to origin: 0.256,0.2854, 0.03282
[ INFO] [1455058855.579721073, 0.517000000]: right wheel to origin: 0.256,-0.2854, 0.03282
[ INFO] [1455058855.579984617, 0.517000000]: Odometry params : wheel separation 1.07025, wheel radius 0.17775
[ INFO] [1455058855.584372684, 0.517000000]: Adding left wheel with joint name: front_left_wheel and right wheel with joint name: front_right_wheel
[ INFO] [1455058855.584441788, 0.517000000]: Adding left wheel with joint name: rear_left_wheel and right wheel with joint name: rear_right_wheel
[ INFO] [1455058855.623916261, 0.517000000]: Loaded gazebo_ros_control.
[ INFO] [1455058855.627756755, 0.517000000]: imu plugin missing , defaults to 0s
[ INFO] [1455058855.627791315, 0.517000000]: imu plugin missing , defaults to 0s
[ INFO] [1455058855.946894412, 0.698000000]: Controller state will be published at 50Hz.
[ INFO] [1455058855.948865461, 0.700000000]: Wheel separation will be multiplied by 1.875.
[ INFO] [1455058855.950244376, 0.701000000]: Wheel radius will be multiplied by 1.
[ INFO] [1455058855.952311088, 0.704000000]: Velocity commands will be considered old if they are older than 0.25s.
[ INFO] [1455058855.953641825, 0.705000000]: Base frame_id set to base_link
[ INFO] [1455058855.955458173, 0.707000000]: Publishing to tf is disabled
Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false].
[ INFO] [1455058855.982731450, 0.714000000]: left wheel to origin: 0.256,0.2854, 0.03282
[ INFO] [1455058855.982777265, 0.714000000]: right wheel to origin: 0.256,-0.2854, 0.03282
[ INFO] [1455058855.982855036, 0.714000000]: Odometry params : wheel separation 1.07025, wheel radius 0.17775
[ INFO] [1455058855.985804001, 0.714000000]: Adding left wheel with joint name: front_left_wheel and right wheel with joint name: front_right_wheel
[ INFO] [1455058855.985842444, 0.714000000]: Adding left wheel with joint name: rear_left_wheel and right wheel with joint name: rear_right_wheel
[ INFO] [1455058856.659093240, 0.714000000]: Laser Plugin (robotNamespace = /husky1/), Info: Using the 'robotNamespace' param: '/husky1/'
[ INFO] [1455058856.659165040, 0.714000000]: Starting Laser Plugin (ns = /husky1/)!
[ INFO] [1455058856.661147466, 0.714000000]: Laser Plugin (ns = /husky1/) , set to "husky1_tf"
[ INFO] [1455058856.666380253, 0.714000000]: Loading gazebo_ros_control plugin
[ INFO] [1455058856.666444438, 0.714000000]: Starting gazebo_ros_control plugin in namespace: husky1
[ERROR] [1455058856.891630593, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/list_controllers]
[ERROR] [1455058856.891792453, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/list_controller_types]
[ERROR] [1455058856.891832000, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/load_controller]
[ERROR] [1455058856.891866505, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/unload_controller]
[ERROR] [1455058856.891906521, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/switch_controller]
[ERROR] [1455058856.891944735, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky1/controller_manager/reload_controller_libraries]
[ INFO] [1455058856.892007917, 0.714000000]: Loaded gazebo_ros_control.
[ INFO] [1455058856.892114539, 0.714000000]: Loading gazebo_ros_control plugin
[ INFO] [1455058856.892159674, 0.714000000]: Starting gazebo_ros_control plugin in namespace: husky2
[husky1/spawn_husky_model-8] process has finished cleanly
log file: /home/devin/.ros/log/9fd7a488-cf77-11e5-8481-d067e5f275a2/husky1-spawn_husky_model-8*.log
[husky2/spawn_husky_model-14] process has finished cleanly
log file: /home/devin/.ros/log/9fd7a488-cf77-11e5-8481-d067e5f275a2/husky2-spawn_husky_model-14*.log
[ERROR] [1455058857.117784521, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/list_controllers]
[ERROR] [1455058857.117909911, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/list_controller_types]
[ERROR] [1455058857.117943432, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/load_controller]
[ERROR] [1455058857.117974316, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/unload_controller]
[ERROR] [1455058857.118006124, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/switch_controller]
[ERROR] [1455058857.118035096, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/controller_manager/reload_controller_libraries]
[ INFO] [1455058857.118096672, 0.714000000]: Loaded gazebo_ros_control.
[ INFO] [1455058857.118273500, 0.714000000]: imu plugin missing , defaults to 0s
[ INFO] [1455058857.118303417, 0.714000000]: imu plugin missing , defaults to 0s
[ERROR] [1455058857.118366069, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/calibrate]
[ERROR] [1455058857.118401319, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/set_accel_bias]
[ERROR] [1455058857.118432122, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/set_rate_bias]
[ERROR] [1455058857.118472828, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/accel/set_parameters]
[ERROR] [1455058857.127610104, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/rate/set_parameters]
[ERROR] [1455058857.139235910, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/imu/data/yaw/set_parameters]
[ERROR] [1455058857.173283705, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/navsat/fix/position/set_parameters]
[ERROR] [1455058857.186993281, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/navsat/fix/velocity/set_parameters]
[ERROR] [1455058857.196046368, 0.714000000]: Tried to advertise a service that is already advertised in this node [/husky2/navsat/fix/status/set_parameters]
my py code:
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
from geometry_msgs.msg import Twist
def talker():
pub1 = rospy.Publisher('/husky1/cmd_vel', Twist,queue_size=100)
pub2 = rospy.Publisher('/husky2/cmd_vel', Twist,queue_size=100)
rospy.init_node('forward', anonymous=True)
rate = rospy.Rate(10) # 10hz
tw1=Twist()
tw2=Twist()
tw1.linear.x=0.5
tw2.linear.x=0.5
while not rospy.is_shutdown():
pub1.publish(tw1)
pub2.publish(tw2)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
when I publish msg to /husky1/cmd_vel and husky2/cmd_vel, only one of husky robots move.
What should I do to control another husky robot?
↧
Different values in /cmd_vel/angular/z and /odom/.../angular/z
Hello. I am new in the use of ROS.
I'm using simulation with model p3dx in ROS Indigo and Gazebo 2.x in Ubuntu 14.04 64bits.
I'm struggling with the difference between:
a) the cmd_vel.angular.z values (value sent to the robot) and
b) the odom.twist.twist.angular.z (value obtained from odometry), **after stabilize** the speed, exacly as link image:
[link text](https://drive.google.com/open?id=0B_slYV4s5-q9N1JPRzZ3alg2RWs)
In the model p3dx using the differential-drive library, for which the sending angular velocity values (cmd_vel / angle / z).
I wonder if this can be solved with configuration or is a platform of error.
Below the library insertion section in "pioneer3dx.gazebo":
true 100 base_right_wheel_joint base_left_wheel_joint 0.39 0.15 5 cmd_vel odom odom base_link
↧
Howto release a package with system dependency ros-indigo-gazebo6-ros?
Hi,
I have a ROS package with the run dependency `gazebo_ros` (specified in package.xml). When I release this package for Indigo the resulting debian package depends on `ros-indigo-gazebo-ros`.
Is it possible to make debian package depend on `ros-indigo-gazebo6-ros`?
Regards,
Sabrina
↧
↧
Is it possible to use robot_localization for multiple robots?
Hello all,
I'm working on a small, multi-robot simulation using Husky robots. I've been using the base [husky_simulator](http://wiki.ros.org/husky_simulator) with some modifications to allow for multiple robots. The way I've accomplished this is through the use of namespaces. I call each "spawn_husky.launch" file in a separate namespace, which sets up all the plugins and publishes unique topics for each robot.
Everything seems to be working fine except for the the topics husky1/odometry/filtered and husky2/odometry/filtered. So I dug through the launch files and found that this topic is published in the control.launch file which uses a "robot_localization" node of the "ekf_localization_node" type.
The tf frame tree of a single robot simulation (without namespaces) looks like this:
But when launched from within the namespace, with multiple robots, looks like this:
I know it's hard to see, but the "odom" frame no longer exists, so this seems the localization is not working properly. My initial guess is that the robot_localization limits the parameters to "map" or "odom" but since I'm using a namespace and tf_prefix, it becomes "husky1/odom" and this is not allowed. But does anyone have any ideas as to how I might be able to correct this or why it might be happening?
Edit 1:
Some additional information, as requested by Tom.
Here are the frame_ids during a single robot simulation with no namespace or tf_prefix
RESULTS: for all Frames
Frames:
Frame: base_footprint published by unknown_publisher Average Delay: -0.000202703 Max Delay: 0
Frame: base_laser published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: base_link published by unknown_publisher Average Delay: -6.75676e-05 Max Delay: 0
Frame: front_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: front_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: front_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: imu_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: inertial_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: laser_mount_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: rear_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: topPlate published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_chassis_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_plate_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: user_rail_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
All Broadcasters:
Node: unknown_publisher 150.338 Hz, Average Delay: -6.94586e-05 Max Delay: 0
And here are all the frame_ids shown by tf_monitor when running the multi robot simulation:
RESULTS: for all Frames
Frames:
Frame: husky1/base_footprint published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/base_laser published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/front_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/imu_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/inertial_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/laser_mount_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/topPlate published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_chassis_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_plate_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/user_rail_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky2/base_footprint published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/base_laser published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/imu_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/inertial_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/laser_mount_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/topPlate published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_chassis_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_plate_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/user_rail_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
All Broadcasters:
Node: unknown_publisher 200.59 Hz, Average Delay: 0.0186471 Max Delay: 0.04
And this is what my localization.yaml file looks like (it is left the same for both):
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
two_d_mode: true
frequency: 50
odom0: husky_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_differential: false
odom0_queue_size: 10
imu0: imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
false, false, false]
imu0_differential: true
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
print_diagnostics: true
I notice there are no "base_link" frames for the multi-robot version, but I'm not sure what this could mean.
Thanks all!
↧
ROS with Chronos Engine
Hi All,
I was shopping for a physics engine that did, well, everything, and everybody pointed me toward Chronos.
It certainly does seem to fit the bill. Of course, not everybody is like me and wants to do molecular dynamics in the same space being used to represent your robot's CRAM belief state, but hey, it's the 21st century.
Is anybody (besides this guy: https://github.com/amelmquist/Chrono_Gazebo) interfacing ROS with Chronos?
-Todd
↧
To reinstall Indigo to Jade
Hello, ROS community!
I would like to clarify or to get additional information about Gazebo version and ROS distribution. My current versions are Gazebo 2.2.6, Indigo ROS distribution and Ubuntu 14.04 LTS. I would like to build a world model by the Building editor, but it is possible only for Gazebo 5+. When I read about the [combination of versions](http://gazebosim.org/tutorials?tut=ros_wrapper_versions), I figured out that I need to upgrade ROS from Indigo to Jade. My questions are :
1. Should I delete completely Indigo and install Jade after?
2. Is there any tutorial how to upgrade the distribution?
I was searching the ROS forum before I asked the question and I found [this](http://answers.ros.org/question/217970/ros-jade-and-gazebo-50-migration-problem/) and [this](http://answers.ros.org/question/211291/ros-indigo-re-installation-problem/). But, I wanted to ask you before I will begin to install it.
Pls, give me an advice how to do it right in my situation, because It is complicated process to change the distribution.
And, I guess, I will need time to set up my packages again.
↧
How to set pose to ekf_localization
I am really a beginner of robot_localization. When I start Husky simulation in Gazebo. There is a node named ekf_localization. And it needs to be set pose. How?
↧
↧
ros-jade-desktop-full not setting up gazebo properly
Normally, after an install of ros-jade-desktop-full on Ubuntu 14.04.3 LTS (trusty) 64-bit, the gazebo 5.0 package is setup to run properly.
I tried to set up a new computer this afternoon, and it is giving me an error because there is no /usr/share/gazebo library.
I know this was working a couple of weeks ago. Has there been a change to debs that busted this?
↧
how to do slam with a custom robot in Gazebo?
Hi everyone,
I'm trying to build a map using SLAM(gmapping) and my own (virtual) robot which is equipped with a hokuyo LRF under Gazebo, i have looked around but could not find a tutorial on how to do this.
for example
http://wiki.ros.org/robotino_navigation/Tutorials/Mapping%20with%20Robotino
http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
these tutorials don't explain how to do it with a customized robot.
my question is how do i obtain the laser scan data and pass it to the corresponding listener? I've noticed in some tutorials it is published by a topic named /base_scan,which does not appear when i load the model into the Gazebo environment.
Any suggestions or help will be much appreciated.
Thanks!
↧
Gazebo model (stl, dae) not spawning on ground plane, floating
Hi! I'm working on building my own gazebo environment and I have a problem when the models (dae, stl) I open in gazebo 'floating' above the ground plane when the models weren't made on the XY plane in the CAD software.
Is there a way to make the bottom face of the object automatically spawn on the ground? I've gone into the .world file and can edit it to have the pose offset but that requires me to know what that exact offset is.
Thanks!
↧
Gazebo model (dae stl) not on ground plane, floating
Hi! I'm working on building my own gazebo environment and I have a problem when the models (dae, stl) I open in gazebo 'floating' above the ground plane when the models weren't made on the XY plane in the CAD software.
Is there a way to make the bottom face of the object automatically spawn on the ground? I've gone into the .world file and can edit it to have the pose offset but that requires me to know what that exact offset is.
Thanks!
↧
↧
Does Kinova jaco-ros work in Gazebo? How do I start it?
Hello I am new to ROS and trying to get the Kinova jaco arm working in Gazebo to test gripping algorithms, the launch files included with the code obtained from https://github.com/Kinovarobotics/kinova-ros do not launch gazebo so I am assuming they are all for the real robot. I compiled the code with catkin_make then tried loading an empty world in Gazebo and spawning the arm in like so:
rosrun gazebo_ros spawn_model -file src/jaco-ros/jaco_model/urdf/jaco_arm.xacro -model jaco_common -urdf
but it says Service call failed: service [/gazebo/spawn_urdf_model] responded with an error:
(And it is blank after the error: part)
Is it possible to load this into gazebo? If so please tell me how thank you
↧
How to send right velocity to model in gazebo?
Hi,
I am sending velocity command to gazebo model but it only reflects 35% of commanded velocity. I tried to tune PID gain in config file but it doesn't affect anything. In xacro file also, changing mechanical reduction doesn't seem to work. Does anybody have idea how to fix it so that I can get the velocity what I am commanding to the model?
Thanks.
↧
Gazebo doesn't give the option for saving a world
Hello, ROS Community!
I use Jade distribution, Gazebo 5.1.0 version, Ubuntu 14.04.3 LTS
When I add some objects `Insert` tab of Gazebo and try to save the world after, I cant do it. The empty window `Save World` popped up without any options.
Yesterday, I was struggling with this problem too. When I was stopping gazebo process by terminal or GUI, the world objects were deleted too. It means gazebo was launched (`rosrun gazebo_ros gazebo`) with empty scene every times.
I decided to update packages by `sudo apt-get update` command, because I suggested the bug can belong to ubuntu. So, I updated them successfully.
Today, I get the empty `Save World` window again, but objects are saved even when I stop gazebo process with this notification:
albina@alb91:~/catkin_ws/src$ rosrun gazebo_ros gazebo
/opt/ros/jade/lib/gazebo_ros/gazebo: 30: kill: invalid signal number or name: SIGINT
↧