I was able to plan and execute trajectories for UR5 in Gazebo. I attached PR2 gripper and was able to send messages to topic "gripper_controller/command". But now I want to have an action interface for the gripper. I am using GripperCommandAction for this purpose.
Firstly, is it possible to use GripperCommand action for Pr2 grippers?
I am unable to connect to the GripperCommand action.
Following are my config and launch files :
controllers.yaml (Moveit!)
controller_list:
- name: ur5_six_arm/arm_controller
action_ns: follow_joint_trajectory
default: true
type: FollowJointTrajectory
joints: [ur5_arm_shoulder_pan_joint, ur5_arm_shoulder_lift_joint, ur5_arm_elbow_joint, ur5_arm_wrist_1_joint, ur5_arm_wrist_2_joint, ur5_arm_wrist_3_joint, ee_joint]
- name: ur5_six_arm/gripper_controller
action_ns: gripper_action
default: true
type: GripperCommand
joints: [r_gripper_l_finger_joint]
control_ur5.yaml - Gazebo
arm_controller:
type: effort_controllers/JointTrajectoryController
topic: "test"
joints:
- ur5_arm_shoulder_pan_joint
- ur5_arm_shoulder_lift_joint
- ur5_arm_elbow_joint
- ur5_arm_wrist_1_joint
- ur5_arm_wrist_2_joint
- ur5_arm_wrist_3_joint
gains:
ur5_arm_shoulder_pan_joint: {p: 4000.0, i: 1000.0, d: 100.0, i_clamp_max: 10.0, i_clamp_min: -10.0}
ur5_arm_shoulder_lift_joint: {p: 2000.0, i: 500.0, d: 100.0, i_clamp_max: 10.0, i_clamp_min: -10.0}
ur5_arm_elbow_joint: {p: 1500.0, i: 500.0, d: 50.0, i_clamp_max: 10.0, i_clamp_min: -10.0}
ur5_arm_wrist_1_joint: {p: 700.0, i: 200.0, d: 10.0, i_clamp: 0.0}
ur5_arm_wrist_2_joint: {p: 700.0, i: 200.0, d: 10.0, i_clamp: 0.0}
ur5_arm_wrist_3_joint: {p: 700.0, i: 200.0, d: 10.0, i_clamp: 0.0}
constraints:
goal_time: 0.6
stopped_velocity_tolerance: 0.5
ur5_arm_shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
ur5_arm_shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
ur5_arm_elbow_joint: {trajectory: 0.1, goal: 0.1}
ur5_arm_wrist_1_joint: {trajectory: 0.1, goal: 0.1}
ur5_arm_wrist_2_joint: {trajectory: 0.1, goal: 0.1}
ur5_arm_wrist_3_joint: {trajectory: 0.1, goal: 0.1}
stop_trajectory_duration: 0.5
state_publish_rate: 25
action_monitor_rate: 10
gripper_controller:
# Position Controllers ---------------------------------------
type: effort_controllers/GripperActionController
joint: r_gripper_l_finger_joint
gains:
r_gripper_l_finger_joint: {p: 100.0, i: 0.01, d: 10.0}
And then launching the controllers in `ur5_six_arm` namespace :
↧
Simulating UR5 + PR2 gripper in Gazebo
↧
How can I make a geomety more complex
Hi I want to add my Pinoneer-3at model. In this case I have to change the geometry of the "top-plate".
The geometry should be 2 boxes. How can I solve it?
This doesn't work. In Gazebo I see only the first one
↧
↧
Gazebo blank/black screen (not responding)
Hello,
I am a beginner at ROS and I tried today to just run the gazebo for a start via ROS.
I ran at the start :
roscore
then in a new terminal I ran :
roslaunch gazebo_ros empty_world.launch
The gazebo gui popped up and it shows black/blank screen with a Real Time Factor = 0.0 and it's stuck there no matter how much time I let it to load .
The same thing happens when I just run the command :
gazebo
with the exception that then the gui pops a "Does not respond" message .Does this mean that my pc requirements doesn't meet the requirements to run gazebo ?
I am at ubuntu 14.04 LTS (dual installed with Windows) and with the following system overview :
Memory : 3,7 GiB
Processor : Intel® Core™ i3 CPU 530 @ 2.93GHz × 4
Graphics : Gallium 0.4 on AMD CEDAR (DRM 2.43.0, LLVM 3.6.0)
OS type : 64-bit
Disk : 16,2 GB
↧
Variable object's position in .world file- Gazebo
Hi, I would like to specify the position of an object in a scene from a text file. Let's say I want a beer at position x,y,z, > beer: x,y,z
Consider the following world file which creates a ground plane, the sun, a gaz station and a beer.
**mybot.world**
model://ground_plane model://sun model://beer beer -10 -8 0 0 0 0 model://gas_station gas_station -2.0 7.0 0 0 0 0
↧
simulate a Stanley segway RMP210 in Gazebo
Hello,
I'm a new hand using ROS indigo. Now I'm trying to simulate a segway (Stanley RMP210) in Gazebo and control it moving on the screen. I've downloaded these packages:
```cd ~/segway_ws/src```
```git clone https://github.com/StanleyInnovation/segway_v3.git```
```git clone https://github.com/StanleyInnovation/segway_v3_robot.git```
```git clone https://github.com/StanleyInnovation/segway_v3_desktop.git```
```git clone https://github.com/StanleyInnovation/segway_v3_simulator.git```
Then I try to follow other tutorials and run:
```roslaunch segway_gazebo segway_playpen.launch```
luckily, a segway in Gazebo shows up.
However, some error occurs:
SUMMARY
========
CLEAR PARAMETERS
* /ekf_local_localization/
PARAMETERS
* /diff_vel_controller/angular/z/has_acceleration_limits: True
* /diff_vel_controller/angular/z/has_velocity_limits: True
* /diff_vel_controller/angular/z/max_acceleration: 28.8
* /diff_vel_controller/angular/z/max_velocity: 3.0
* /diff_vel_controller/base_frame_id: /segway/base_link
* /diff_vel_controller/cmd_vel_timeout: 0.25
* /diff_vel_controller/enable_odom_tf: False
* /diff_vel_controller/estimate_velocity_from_position: False
* /diff_vel_controller/left_wheel: left_wheel
* /diff_vel_controller/linear/x/has_acceleration_limits: True
* /diff_vel_controller/linear/x/has_velocity_limits: True
* /diff_vel_controller/linear/x/max_acceleration: 4.903325
* /diff_vel_controller/linear/x/max_velocity: 3.57632
* /diff_vel_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /diff_vel_controller/publish_rate: 100
* /diff_vel_controller/right_wheel: right_wheel
* /diff_vel_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /diff_vel_controller/type: diff_drive_contro...
* /diff_vel_controller/wheel_radius_multiplier: 1.0
* /diff_vel_controller/wheel_separation_multiplier: 1.0
* /ekf_local_localization/base_link_frame: segway/base_link
* /ekf_local_localization/debug: False
* /ekf_local_localization/debug_out_file: debug_ekf_localiz...
* /ekf_local_localization/frequency: 30.0
* /ekf_local_localization/imu0: /segway/feedback/...
* /ekf_local_localization/imu0_config: [False, False, Fa...
* /ekf_local_localization/imu0_differential: True
* /ekf_local_localization/imu0_queue_size: 10
* /ekf_local_localization/imu1: /segway/feedback/...
* /ekf_local_localization/imu1_config: [False, False, Fa...
* /ekf_local_localization/imu1_differential: True
* /ekf_local_localization/imu1_queue_size: 10
* /ekf_local_localization/imu2_differential: True
* /ekf_local_localization/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
* /ekf_local_localization/odom0: /segway/feedback/...
* /ekf_local_localization/odom0_config: [True, True, Fals...
* /ekf_local_localization/odom0_differential: True
* /ekf_local_localization/odom0_queue_size: 10
* /ekf_local_localization/odom1_differential: True
* /ekf_local_localization/odom_frame: odom
* /ekf_local_localization/print_diagnostics: False
* /ekf_local_localization/process_noise_covariance: [0.05, 0.0, 0.0, ...
* /ekf_local_localization/sensor_timeout: 0.1
* /ekf_local_localization/two_d_mode: True
* /ekf_local_localization/world_frame: odom
* /front_caster_swivel_controller/joint: front_caster_swivel
* /front_caster_swivel_controller/pid/d: 0.0
* /front_caster_swivel_controller/pid/i: 0.001
* /front_caster_swivel_controller/pid/p: 1.0
* /front_caster_swivel_controller/type: effort_controller...
* /front_caster_wheel_controller/joint: front_caster_wheel
* /front_caster_wheel_controller/pid/d: 0.0
* /front_caster_wheel_controller/pid/i: 0.001
* /front_caster_wheel_controller/pid/p: 1.0
* /front_caster_wheel_controller/type: effort_controller...
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /joint_state_publisher/use_gui: False
* /rear_caster_swivel_controller/joint: rear_caster_swivel
* /rear_caster_swivel_controller/pid/d: 10.0
* /rear_caster_swivel_controller/pid/i: 0.001
* /rear_caster_swivel_controller/pid/p: 1.0
* /rear_caster_swivel_controller/type: effort_controller...
* /rear_caster_wheel_controller/joint: rear_caster_wheel
* /rear_caster_wheel_controller/pid/d: 0.0
* /rear_caster_wheel_controller/pid/i: 0.001
* /rear_caster_wheel_controller/pid/p: 1.0
* /rear_caster_wheel_controller/type: effort_controller...
* /robot_description:
↧
↧
gazebo_ros_control missing in latest ros-jade-gazebo-ros-pkgs
Hello,
When running "catkin_make" , I got "Could not find a package configuration file provided by "gazebo_ros_control" with any of the following names"
From Gazebo website, http://gazebosim.org/tutorials?tut=ros_installing,
they mentioned that "Note: currently in ROS Jade there is no ros-jade-gazebo-ros-control package released."
From http://gazebosim.org/tutorials?tut=ros_installing, "The 2.5.3 Jade version will include the gazebo_ros_control: ros/rosdistro#11044".
However,
is there any way I can either
1. build gazebo_ros_control from the source code and install in my local jade (/opt/ros/jade/share:/opt/ros/jade/stacks)
2. ignore gazebo_ros_control
Thank you for taking time on my questions
↧
Multiple Robots in Simulation with Namespace Environment Variable
Hi,
I want to simulate multiple robots in gazebo and started with namespace settings. I'm running running this command before launching `mrp2_gazebo.launch` :
~$ export ROS_NAMESPACE=robot1
It works on other nodes:
process[robot1/gazebo-2]: started with pid [27341]
process[robot1/gazebo_gui-3]: started with pid [27345]
process[robot1/robot_state_publisher-4]: started with pid [27349]
process[robot1/spawn_model_ubuntu_ogh_huma_27289_1249120356262851661-5]: started with pid [27350]
process[robot1/controller_spawner-6]: started with pid [27351]
process[robot1/ekf_localization-7]: started with pid [27357]
process[robot1/twist_mux-8]: started with pid [27364]
process[robot1/twist_marker-9]: started with pid [27366]
process[robot1/joystick_relay-10]: started with pid [27378]
process[robot1/joy_teleop-11]: started with pid [27383]
process[robot1/joystick-12]: started with pid [27385]
process[robot1/twist_marker_server-13]: started with pid [27388]
process[robot1/mrp2_diag_publisher-14]: started with pid [27394]
process[robot1/diagnostic_aggregator-15]: started with pid [27401]
but Controller Spawner couldn't find controller_manager ROS interface:
[INFO] [WallTime: 1462190862.012295] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
and;
[WARN] [WallTime: 1462189886.211852] [209.507000] Controller Spawner couldn't find the expected controller_manager ROS interface.
`~$ rosservice list | grep controller_manager` returns nothing.
Here is my `controls.launch` file (working without namespace variable):
robot1 mrp2_hardware_gazebo/Mrp2HardwareGazebo 0.001
↧
Access parameter server from launch file and start node
Hi, I have the following situation:
1 - A world is loaded in Gazebo
2 - A couple of cans are added in the simulation environment via the command line ([tutorial](http://gazebosim.org/tutorials/?tut=ros_comm))
I am using this command to place the can in Gazebo:
rosrun gazebo_ros spawn_model -database coke_can -sdf -model coke_can3 -y 2.2 -x -0.3
**I would like to load the can automatically at start up based on the coordinates provided by the parameter server**. Do you have any advice?
This is what I have tried so far:
- A node saves the coordinates of the coke can in the parameter server.
- Gazebo is launched
- A node inserts the can in the x and y coordinates specified as arguments.
Here the object is positioned in place thanks to the arguments. How do I use the variables in the parameter server as arguments of the node?
Thanks
↧
Problem with gazebo turtlebot simulation
I am following this tutorial [link](http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Explore%20the%20Gazebo%20world) to simulate turtlebot in gazebo. However, there are some problems with the laser scan and point cloud captured by the turtlebot. There are always a layer of red cloud in front of the turtlebot, even though there are nothing actually in front. [Photo1](http://www.comp.nus.edu.sg/~wangchao/turtlebot/turtlebot2.jpg) [Photo2](http://www.comp.nus.edu.sg/~wangchao/turtlebot/turtlebot1.jpg)
I am using Ubuntu 14.04 in parallels desktop on Mac. Is the problem caused by virtual machine?
↧
↧
Is Gazebo capable for optimization problems?
Hello,
I want to program an algorithm to optimize my robot (e.g. genetic algorithm). For this i need many generations of simulated robots.
before going to deep into gazebo I want to ask if anybody knows if gazebo is capable of simulating many agents and generation of robots.
Thanks in advance
↧
Best Gazebo + ROS versions for installing on Ubuntu 14.04 on vmware
Hello people
For accomplishing my master thesis I need to simulate our humanoid robot in Gazebo. I prefer to control the robot through MATLAB using ROS nodes. I installed ubuntu 14.04 on vmware. Now I'm a little confused about choosing the right compatible versions of Gazebo and ROS. Would you guys please help me decide..
Please consider following details in your suggestion:
1) The robot should have IMU (Inertial Measurement Unit), Encoders and 6 axis Force/Torque sensor at ankle or equivalently 4 contact force sensor at each foot (2 contact force sensor for each toe and heel)
2) I need a version of Gazebo that supports all 4 available Dynamic engines (e.g. ODE, DART, Bullet and SIMBODY) to examine the accuracy of each one for contact forces based on solving LCP. Maybe gazebo 3+ as I know.
3) I prefer a version of Gazebo that supports adding noise without having to write sensor plugins.
4) I need to model two closed chain using ball screw joints for actuating knee joint. So I have to use SDF instead of URDF for modeling.
5) I want to have control over simulation step time and controller update rate when using MATLAB to control the robot.
after reading through different tutorials about gazebo and ROS, I realized that maybe I have to install ROS jade but I'm a little worried about this note that "currently in ROS Jade there is no ros-jade-gazebo-ros-control package released" as mentioned [here](http://gazebosim.org/tutorials?tut=ros_installing).
I looked over the net for an image of preconfigured gazebo and ros jade, but I couldn't find any except the one that mathworks has provided [here](http://www.mathworks.com/robotics/15a/ros_vm_install) which is based on Kubuntu and Gazebo 1.9.6 and ros hydro. I'll upload my vmware images for others after installing and configuring the most stable and updated versions of gazebo and ros.
Considering my application do you recommend using unsupported version of gazebo and ros using catkin workspace or not?
Regards
↧
How to attach materials including pictures to a irregular geometry ?
My situation is :
For a cube I create, when I use the Gazebo/Wood material in the `** ` element, It displays with the expected surface.
But when I use the same description on another geometry model, it can only display with a similar color. The only two differences between the two models are:
1. In the tag, the latter model uses the 3D shape (.dae file) created by SketchUp, but the former one uses the simple
`1 1 1`.
2. Every faces of the latter model are in different shape and size.
Could anyone please tell me some relations between the difference and the issue?
And If possible, could anyone give me some instructions about the meanings of the descriptions in a material file, especially those for a piceture? (For example, the scale )
Thanks.
↧
Ask for the description file of "NIFTi" 3D model .
I have go through the tutorial of "build a robot", in the "[Inertial parameters of triangle meshes](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot)" sub-tutorial, I find the model used in the picture named "NIFTi". I am making a very similar robot now, and really want to refer to this one. So, could anyone please provide the source of the description file of this robot to me?
I would be very grateful.
↧
↧
Has anyone worked with a mobile robot simulation on terrain in Gazebo?
Hi all,
I was wondering if anyone here has worked on a terrain robot (3D) in Gazebo simulation.
What I would like to know is,
* how to write a base controller so that it can travel on inclined planes and stay still without being dragged by the gravity when it stops.
--> I implemented one similar to the pr2 base controller but it cannot do the above; need some help on this
Thank you in advance
CS
↧
what should be done to keep PR2 stationary on a ramp?
Hello all,
In Gazebo simulation, the PR2 goes down a ramp due to gravity ; I assume the wheel base controller still applies 0 velocity for the wheels.
How should I keep PR2 stationary? What changes should be made in the base controller, URDF, transmission?
Thanks in advance.
CS
↧
Gazebo world file from a collada file
Dear ROS users,
I created a collada file of a terrain using *Blender* and now I want it to be included in a *Gazebo* .world file. How is this done?
Thanks in advance
CS
↧
pioneer2dx teleop in Gazebo
Dear all,
http://robotics.usc.edu/ros/category/stacks/p2os says that a working drivable urdf model of the Pioneer2dx for gazebo/rviz is released.
How can I teleoperate a pioneer robot in a Gazebo simulation?
I could visualize the pioneer robot both in gazebo and in rviz using,
roslaunch p2os_urdf pioneer3dx_urdf.launch
roslaunch p2os_urdf pioneer3dx.gazebo.launch
What should I do next?
By the way, after launching from above launch files, after few minutes, the robot automatically starts moving. Why is that?
Thank you in advance
CS
↧
↧
Gazebo headless crashes when starting pr2.launch
Hi all,
I am just trying to work out "pr2_mechanism/Tutorials/Running a realtime joint controller". But Gazebo crashes when tried launching pr2. So I ran gazebo headless and it still crashes. Here is the backtrace.
gazebo: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array::plain_array() [with T = float, int Size = 4, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
Program received signal SIGABRT, Aborted.
0x0012e416 in __kernel_vsyscall ()
(gdb) bt
#0 0x0012e416 in __kernel_vsyscall ()
#1 0x01c6f941 in raise () from /lib/libc.so.6
#2 0x01c72e42 in abort () from /lib/libc.so.6
#3 0x01c688e8 in __assert_fail () from /lib/libc.so.6
#4 0x07d324ab in plain_array (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69
#5 DenseStorage (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:102
#6 PlainObjectBase (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:381
#7 Matrix (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Core/Matrix.h:276
#8 Quaternion (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:256
#9 Identity (this=0xb0b22898, parent=0xb0b21238)
at /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:112
#10 PointCloud (this=0xb0b22898, parent=0xb0b21238)
at /opt/ros/electric/stacks/perception_pcl/pcl/include/pcl-1.1/pcl/point_cloud.h:81
#11 gazebo::GazeboRosCamera::GazeboRosCamera (this=0xb0b22898,
parent=0xb0b21238)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo_plugins/src/gazebo_r---Type to continue, or q to quit---
os_camera.cpp:66
#12 0x07d32714 in gazebo::NewGazeboRosCamera (entity=0xb0b21238)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo_plugins/src/gazebo_ros_camera.cpp:61
#13 0x001a880e in gazebo::ControllerFactory::NewController (classname=...,
parent=0xb0b21238)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:65
#14 0x00178406 in gazebo::Sensor::LoadController (this=0xb0b21238,
node=0xb0e2e378)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/sensors/Sensor.cc:218
#15 0x00179286 in gazebo::Sensor::Load (this=0xb0b21238, node=0xb0e2e260)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/sensors/Sensor.cc:85
#16 0x00e48672 in gazebo::Body::LoadSensor (this=0x85f05c8, node=0xb0e2e260)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/physics/Body.cc:623
---Type to continue, or q to quit---
#17 0x00e50bf4 in gazebo::Body::Load (this=0x85f05c8, node=0xb0e2d6a8)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/physics/Body.cc:247
#18 0x0101b08c in gazebo::ODEBody::Load (this=0x85f05c8, node=0xb0e2d6a8)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/physics/ode/ODEBody.cc:87
#19 0x001dbf0b in gazebo::Model::LoadBody (this=0xb0e3d9e0, node=0xb0e2d6a8)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Model.cc:922
#20 0x001dca5e in gazebo::Model::LoadPhysical (this=0xb0e3d9e0,
node=0xb19e5f00)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Model.cc:1286
#21 0x001e2685 in gazebo::Model::Load (this=0xb0e3d9e0, node=0xb19e5f00,
removeDuplicate=true)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Model.cc:217
#22 0x001b0767 in gazebo::World::LoadModel (this=0x816fff8, node=0xb19e5f00,
---Type to continue, or q to quit---
parent=0x0, removeDuplicate=false, initModel=true)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/World.cc:583
#23 0x001b97f2 in gazebo::World::LoadEntities (this=0x816fff8,
node=0xb19e5f00, parent=0x0, removeDuplicate=,
initModel=)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/World.cc:460
#24 0x001b9771 in gazebo::World::LoadEntities (this=0x816fff8,
node=0xb0d3a418, parent=0x0, removeDuplicate=true, initModel=true)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/World.cc:468
#25 0x001b98f9 in gazebo::World::ProcessEntitiesToLoad (this=0x816fff8)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/World.cc:509
#26 0x001eb86f in gazebo::Simulator::MainLoop (this=0x814d918)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:491
---Type to continue, or q to quit---
#27 0x0809d3ce in main (argc=3, argv=0xbfffed84)
at /tmp/buildd/ros-electric-simulator-gazebo-1.4.2/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/src/gazeboros.cpp:2607
Hope someone could help me.
Thanks
CS
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joint:slider not working
Hi all,
Since URDF does not support closed loop links I closed the loop using a hidden joint:hinge in the .gazebo.xacro file for my robot, following some ROS answers for a similar question.
${link} ${prefix}_${suffix}_wheel_HubTop ${prefix}_${suffix}_wheel_HubTop 0 1 0 0 0 -0.045 ${link} ${prefix}_${suffix}_wheel_HubTop ${prefix}_${suffix}_wheel_HubTop 0 1 0 0 0 -0.045
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libackermann_plugin.so
Hi:
I want to control the ackermann_vehicle in gazebo. I have the car.sdf with "libackermann_plugin.so", but the fiel libackermann_plugin.so did not exist in my gazebo plugin. I have download the source file of ackermann plugin but it can not be built because some dependence is not available in ROS Indigo anymore. My ubuntu is 14.04. Could anyone provide the libackermann_plugin or tell me how to get it?
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