I'm using Gazebo/ROS with TurtleBot. My robot needs to find the distance from itself to all the obstacles that exist in the environment. I believe Laserscan has this information, but I am not sure how can I get the position of the models from Gazebo and reuse them in ROS with rospy. Can someone help me with some examples/tutorials?
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How can I dynamically get the coordinate of a model from gazebo?
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cant load worlds with gazebo v8.0.0
I have installed ros-kinetic-desktop-full and ros-kinetic-turtlebot-* on an Arch Linux. and when i try to run the "roslaunch turtlebot_gazebo turtlebot_world.launch" it launches with no errors but the world only contains the turtlebot,ground,a light source and no other playground.world objects.
I can confirm gazebo loads the world correctly when i run "gazebo ./playground.world" and loads all the objects except the turtlebot.
some maybe related packages versions:
gazebo v8.0.0
protobuf 3.2.0
ros-kinetic-gazebo-* 2.5.8
logs: https://www.dropbox.com/sh/rda98ftecojbc4g/AADkllj93GMG1rf29z0YumRUa?dl=0
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Where is gazebo logging the msgs?
When I do:> ~$ roslaunch gazebo_ros empty_world.launch
my gazebo fails with a msg like:
> [gazebo-1] process has died [pid> 14193, exit code 255, cmd> /opt/ros/kinetic/lib/gazebo_ros/gzserver> -e ode worlds/empty.world __name:=gazebo __log:=/home/rosclient/.ros/log/fbf9970c-13c4-11e7-af34-080027063d61/gazebo-1.log]. log file:> /home/rosclient/.ros/log/fbf9970c-13c4-11e7-af34-080027063d61/gazebo-1*.log
then I move to that path but there is no such a log file there from gazebo...
where is then?
thanks
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change Gazebo initial position of the arm
I don't know how to change the arm(Jaco2) starting position in Gazebo. Currently the only thing that I do is to execute the move_robot.py script (modified with my desired position), but this represent a problem in my case since the arm is integrated on the top of the Husky robot and the initial pre-imposted movement cause an overturning of this latter.
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Gmapping not marking inf values as free space
Hi,
Im working with gmapping and a simulated robot in gazebo under ROS Kinetic.The problem that I have is that gmapping doesn't draw the space under the rays that didn't hit anything as free space.
The first image shows the map displayed in rviz and the second one the simulation environment.
My values for the ranges are:
maxRange = 11.0
maxURange = 9.0
gazeboLaserRange = 10.0
I am using the libgazebo_ros_gpu_laser.so for the laser in gazebo.
Any ideas why this happens?
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R2 Gazebo simulator
Hi,
I am traying install R2 simulator on my pc. I follow steps mentioned in this [link](https://gitlab.com/nasa-jsc-robotics/robonaut2/wikis/R2%20Gazebo%20Simulation) .
When I run this command in terminal.
rosdep install -y -i --from-paths src
I got this error message;
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_instance: Cannot locate rosdep definition for [shared_memory_transport]
Thanks for advice.
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robotiq gazebo
Hi!
I tried package at https://github.com/TheDash/robotiq, launching robotiq_s_model_articulated_gazebo/launch/robotiq_gripper_empty_world.launch
It seems that missing file are not included in robotiq_s_model_visualization folder.
Here is the error:
while processing ..../robotiq/robotiq_s_model_visualization/launch/robotiq_gripper_upload.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: ..../robotiq/robotiq_s_model_visualization/launch/robotiq_gripper_upload.launch'
Thanks!
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How to Change Pose and Twist Covariance Matrices in sim_p3at/odom topic of amr-ros-config package
Can someone please assist on how one can go about changing the covariance matrices associated with both pose and twist in the rostopic sim_p3at/odom published by the Gazebo simulation of the amr-ros-config package: https://github.com/MobileRobots/amr-ros-config. I am interested in experimenting with various choices of these covariance matrices and hence the need to be able to change them.
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How can I have a copy of same robot in Gazebo simulation
I am working on a robot, now I want to have a copy of the same robot in Gazebo simulation.
Please tell How can I achieve it? Thanks
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Connect Gazebo SDF model to ROS
Hello, since I'm a newbie in ROS and Gazebo I'm having trouble to find some tutorial or someone who could explain how to connect a robot SDF model to ROS so that I could acquire sensor data. Is there any tutorial or something that could give me a hint or some plugin which can connect a SDF model to ROS like a URDF model? Thanks!
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Robot joint not working in Gazebo.
I cannot control the pad1 and pad2 joints using ros. Is there something wrong with the xacro I'm not seeing? The code can be found at https://github.com/greenpro/sac_description/blob/master/urdf/scorbot_description.xacro
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Can't run roslaunch turtlebot_gazebo
My problem is very similar to this other question: http://answers.ros.org/question/223792/roslaunch-turtlebot_gazebo-failure/
However it didn't seem like a solution was ever found so I thought I'd better ask my own question to get some answers.
I have installed ros indigo, gazebo, roslaunch packages and the gazebo turtlebot packages, using sudo apt-get.
I have set up my environment using source /opt/ros/indigo/setup.bash.
On the gazebo website I am told to run the turtlebot simulation using:
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
When I run that command I get the following error:
[turtlebot_empty_world.launch] is neither a launch file in package [turtlebot_gazebo] nor is [turtlebot_gazebo] a launch file name
The traceback for the exception was written to the log file
In the question I have linked above the suggested solution was to instead use the command:
roslaunch turtlebot_gazebo turtlebot_world.launch
Running that command gives me a different error:
while processing /opt/ros/indigo/share/turtlebot_bringup/launch/includes/robot.launch.xml:
while processing /opt/ros/indigo/share/turtlebot_bringup/launch/includes/description.launch.xml:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/opt/ros/indigo/share/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro'] returned with code [1].
Param xml is
The traceback for the exception was written to the log file
I am new to ROS and gazebo and any assistance would be appreciated. I also apologise for not knowing how to properly format my question; if anyone can tell me how to mark the error logs as code sections so that they are more readable I would be grateful.
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Recommended stable version of ROS for industrial robots as of 2017
I've been working on ROS enabled robots since 2 years and I have used ROS indigo on Ubuntu 14.04 Trusty . Quite a bit after getting exposed to ROS and interest towards the robotic automation I've started researching on industrial robots and their major significance today on manufacturing automation. So to kick start I would like to know which version and combination of ROS and Gazebo/V-REP is most recommended for research and business perspective considering the available instant support as well.
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Is ROS fully BSD compliant?
Hello - I work for an organization which has stringent legal review for open source products. We have recently scanned ROS Indigo Desktop Full version using open source scanning tool called Blackduck. The scanning tool found some of the ROS components withGPL dependency. One of the component xmlrpcpp is mentioned as LGPL-2.1 in the package.xml file. However, the xmlrpc.h under "lib" folder says it is "GNU GPL" license in the comments section (copied below). Since ROS is distributing this file which is licensed under GPL v2.1, doesn't this make ROS also be GPL product? While we are thinking of proposing a minimalist approach to have ROS Base edition and add components as needed, found that even ROS Base is distributed with these xmlrpc files that carry GPL v1.2 license requirement mentioned.
How do we use ROS without conflicting GPL license terms in some of the files?
Here is the summary of license conflict:
Here is the summary of conflicts –
CPL 1.0 IVCON_generic
GNU LGPL gazebo_ros_pkgs_generic -
GPL v2.1 KDL_generic v2.1; orocos_kinematics_dynamics; Stage; xmlrpc_generic; xmlrpcpp_generic
Snippet from xmlrpc.h file:
"6.// XmlRpc++ Copyright (c) 2002-2003 by Chris Morley
7.// This library is free software; you can redistribute it and/or
8.// modify it under the terms of the GNU Lesser General Public
9.// License as published by the Free Software Foundation; either
10.// version 2.1 of the License, or (at your option) any later version."
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Odometry publishes more than one sample with identical timestamp
I'm recording odometry and input speeds with *rosbag* in order to be able to process it later, draw trajectories, etc. Everything is done in simulation using Gazebo and Turtlebot.
The strange thing that happens is that there is about 20% of recorded samples have the same timestamp as other samples, which makes using this data almost impossible. I tried with different simulation step sizes and solvers and eliminated both of them as a reason. I also tried recording on another PC with a better processor and more memory and it did not help either. However, this does not happen when using real Turtlebot.
Can anyone give some advice on what to do?
P.S. I can provide examples if needed.
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How to model a non-backdrivable joint
I have an arm that is effort driven and each joint is not backdrivable. I'm having a hard time figuring out the right way to model this in the URDF. Right now I just have a SimpleTransmission with an EffortJointInterface hardware interface and am using JointEffortControllers. The problem is that when no effort is being applied, the arm flops to the floor in gazebo since the simulation doesn't know the joints don't work like that.
I've read a few places to just jack up the damping and friction in the joint specification. I've tried that. As I raise and raise it, there is a fine line between where the arms still just drop to the floor, or they spin off into oblivion. Additionally I don't think this is the right way because my simulated arm would require much more effort to move it that it would in reality.
Any suggestions? I would have thought there would be something in the transmission tag to support this but I haven't seen anything.
Thanks,
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model states topic in gazebo
Hi,
I wanted to understand the information printed by the gazebo in the model_states topic of gazebo.
"rostopic echo /gazebo/model_states" - prints this:
name: ['ground_plane', 'jackal']
pose:
-
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
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position:
x: 0.0664383614036
y: 0.00389383920109
z: 0.0634964523388
orientation:
x: -1.04535799417e-07
y: -1.3819443258e-05
z: -0.00528291143972
w: 0.99998604523
From this, it looks like, the first set of position information is related to the ground_plane of the gazebo. The second set of position information is for the jackal.
The first set of position information always shows "0.0" for position. Why is that so?
The second set of positions increases as the jackal moves which is to be expected.
If the model_state topic of gazebo gives the position of the robot in the gazebo world frame already, is it necessary to transform the co-ordinates between frames? Can we just use the position information provided by the second set of position values as the robots position with respect to the world frame at that point?
Please help.
Regards,
rsmitha.
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Running Turtlebot_gazebo error
I'm trying to run turtlebot_gazebo but I have some problems.
Here's the subject in details. I'm running ROS kinetic which is supposed that it can't link to gazebo as far as I know. I installed gazebo with the help of your site, however, the package I got and installed was called turtlebot_simulator, and turtlebot_gazebo was inside it (if I misunderstood the thing let me know). I tried to launch it using " $ roslaunch turtlebot_gazebo turtlebot_world.launch" but this didn't work. Finally, I browsed to folder "launch" inside turtlebot_gazebo and tried to launch it using "$ roslaunch turtlebot_world.launch" and it gives me the following error:
Invalid tag: environment variable 'TURTLEBOT_GAZEBO_WORLD_FILE' is not set.
Arg xml is
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Element[joint:hinge] not defined in SDF
I'm trying to use the URDF from here:
https://github.com/aurofable/ros/blob/master/art-experimental/urdf/navgroup.urdf
When I run "gzsdf print car.urdf" [or spawn in gazebo] I get:
Error [parser.cc:697] XML Element[joint:hinge], child of element[model] not defined in SDF. Ignoring.[model]
Error [parser.cc:688] Error reading element [model]
Error [parser.cc:348] Unable to read element [sdf]
Error [parser.cc:273] parse as old deprecated model file failed.
Error: SDF parsing the xml failed It doesn't like the joint:hinge inside of the gazebo tag. (It won't let me post the code here.) joint:hinge appears to be valid: http://playerstage.sourceforge.net/doc/Gazebo-manual-0.8.0-pre1-html/group_gazebo_hinge_joint.html Is this a version problem? Or the structure of the URDF? I have been searching all day and haven't found a solution. I am running indigo and Gazebo 2.2.6
Error [parser.cc:688] Error reading element [model]
Error [parser.cc:348] Unable to read element [sdf]
Error [parser.cc:273] parse as old deprecated model file failed.
Error: SDF parsing the xml failed It doesn't like the joint:hinge inside of the gazebo tag. (It won't let me post the code here.) joint:hinge appears to be valid: http://playerstage.sourceforge.net/doc/Gazebo-manual-0.8.0-pre1-html/group_gazebo_hinge_joint.html Is this a version problem? Or the structure of the URDF? I have been searching all day and haven't found a solution. I am running indigo and Gazebo 2.2.6
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Joint between different namespace/models
Hello,
I'm working on a project where I have to connect two quads on a bar.
On the images below you can see what I have achieved so far.
https://ibb.co/fm511Q
https://ibb.co/khbVvk
I'd like to know if there's a way to create joints between the models on the image. The models have to be independent because I have to be able to fly the quads, and to do that they have to have different namespaces.
My launch file looks like this:
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