Hi guys, when i launch: roslaunch turtlebot_gazebo turtlebot_world.launch
Gazebo starts its execution but it doesn't finish its loading because it is stuck when appears this info: [ INFO] [1494084980.998844254]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
I tried to run gazebo alone and it works fine, so the problem is not gazebo.
Have you got any ideas?
↧
Turtlebot_gazebo blocked
↧
Why ros-kinetic-desktop package depends on gazebo?
As ros-kinetic-desktop depends on ros-kinetic-urdf-tutorial, and ros-kinetic-urdf-tutorial depends on ros-kinetic-gazebo-ros, installing ros-kinetic-desktop installs gazebo.
I think that something is wrong with that, because gazebo should be installed with ros-kinetic-desktop-full (and its dependency ros-kinetic-simulators).
Was this bug/feature introduced intentionally?
↧
↧
How to setup gym-gazebo for RL using UR10?
Hello,
So I have my UR10 up and running in the gazebo ( had to go through several steps- if anyone needs a help on that can ask here). Next, I want to setup my reinforcement learning agent and connect this to my robot model in the gazebo. I came across the gym-gazebo platform that allows doing the same - http://docs.erlerobotics.com/simulation/gym. However, this package is configured for specific robot systems. How can I set it up for UR10?
**USING ROS INDIGO; UBUNTU TRUSTY 14.04; Gazebo multi-robot simulator, version 2.2.3**
To be more precise if you check go to:
gym-gazebo/gym_gazebo/envs/installation , there are setup.bash files for various robots. I can think of seeing them as a sample and try to build my own bash script for UR10.
#!/bin/bash
if [ -z "$GAZEBO_MODEL_PATH" ]; then
bash -c 'echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:"`pwd`/../assets/models >> ~/.bashrc'
else
bash -c 'sed "s,GAZEBO_MODEL_PATH=[^;]*,'GAZEBO_MODEL_PATH=`pwd`/../assets/models'," -i ~/.bashrc'
fi
#Load turtlebot variables. Temporal solution
chmod +x catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em
bash catkin_ws/src/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em
#add turtlebot launch environment variable
if [ -z "$GYM_GAZEBO_WORLD_MAZE" ]; then
bash -c 'echo "export GYM_GAZEBO_WORLD_MAZE="`pwd`/../assets/worlds/maze.world >> ~/.bashrc'
else
bash -c 'sed "s,GYM_GAZEBO_WORLD_MAZE=[^;]*,'GYM_GAZEBO_WORLD_MAZE=`pwd`/../assets/worlds/maze.world'," -i ~/.bashrc'
fi
if [ -z "$GYM_GAZEBO_WORLD_CIRCUIT" ]; then
bash -c 'echo "export GYM_GAZEBO_WORLD_CIRCUIT="`pwd`/../assets/worlds/circuit.world >> ~/.bashrc'
else
bash -c 'sed "s,GYM_GAZEBO_WORLD_CIRCUIT=
[^;]*,'GYM_GAZEBO_WORLD_CIRCUIT=`pwd`/../assets/worlds/circuit.world'," -i ~/.bashrc'
fi
if [ -z "$GYM_GAZEBO_WORLD_CIRCUIT2" ]; then
bash -c 'echo "export GYM_GAZEBO_WORLD_CIRCUIT2="`pwd`/../assets/worlds/circuit2.world >> ~/.bashrc'
else
bash -c 'sed "s,GYM_GAZEBO_WORLD_CIRCUIT2=
[^;]*,'GYM_GAZEBO_WORLD_CIRCUIT2=`pwd`/../assets/worlds/circuit2.world'," -i ~/.bashrc'
fi
if [ -z "$GYM_GAZEBO_WORLD_CIRCUIT2C" ]; then
bash -c 'echo "export GYM_GAZEBO_WORLD_CIRCUIT2C="`pwd`/../assets/worlds/circuit2c.world >> ~/.bashrc'
else
bash -c 'sed "s,GYM_GAZEBO_WORLD_CIRCUIT2C=
[^;]*,'GYM_GAZEBO_WORLD_CIRCUIT2C=`pwd`/../assets/worlds/circuit2c.world'," -i ~/.bashrc'
fi
if [ -z "$GYM_GAZEBO_WORLD_ROUND" ]; then
bash -c 'echo "export GYM_GAZEBO_WORLD_ROUND="`pwd`/../assets/worlds/round.world >> ~/.bashrc'
else
bash -c 'sed "s,GYM_GAZEBO_WORLD_ROUND=
[^;]*,'GYM_GAZEBO_WORLD_ROUND=`pwd`/../assets/worlds/round.world'," -i ~/.bashrc'
fi
#copy altered urdf model
cp -r ../assets/urdf/kobuki_urdf/urdf/ catkin_ws/src/kobuki/kobuki_description
#copy laser mesh file
cp ../assets/meshes/lidar_lite_v2_withRay.dae catkin_ws/src/kobuki/kobuki_description/meshes
exec bash # reload bash
Above as we see turtle bot variables loading section. Where can I get those similar files for UR10? Or do I need them?
Kindly help me set this up. Any help will be appreciated.
↧
How can I link Rosaria with Gazebo ? (Pioneer 3DX)
Hi,
I've just recently begun to work on a pioneer P3DX. Before trying to get it moving, I wanted to try it on a simulator.
I've run Aria with MobileSim fairly easily with the examples. So did I with RosAria and MobileSim following the tutorial and this : https://github.com/pengtang/rosaria_client
But when it comes to Gazebo and RosAria, I'm lost. I made a P3DX move with https://github.com/SD-Robot-Vision/PioneerModel and https://github.com/SD-Robot-Vision/p3dx_mover, but it's with ROS.
And since I ultimately want my robot moving in real life, I'm lost as how to get the RosAria example work on Gazebo. (Because i want the same code both working on Gazebo and on the P3DX)
And since I still don't understand all of this, even when reading this post about the exact same problem :
http://answers.ros.org/question/257057/using-gazebo-simulator-with-rosaria/
I'd wanted to know if someone could perhaps clarify it / help me on this.
I also found this, which pretty much is the same problem as mine :
http://answers.ros.org/question/215815/using-gazebo-simulator-with-pioneer3dx-model/
but there was no answers as of today.
I've tried to be as clear as possible, sorry if I still sound confusing.
Hdifsttar
↧
URDF tutorial robot falls
Hello,
I followed the [R2D2 URDF tutorial](http://wiki.ros.org/urdf/Tutorials) and constructed a nice R2D2 robot. Now when I drive the robot, R2D2 tilts to his back. It is like his wheels have so much grip, that they run away under his body. I tried different configurations of mu1, mu2, kd, kp but none of it really worked.
Hope [this picture](http://imgur.com/YH9MiEH) makes my problem clear.
And here is my [URDF-File](https://pastebin.com/iTeXJkQ7)
Would be great if somebody has a hint, where to look at, or had a similar problem.
↧
↧
How to use GetModelState service from Gazebo in python
Hi, I'm actually working on Baxter robot with gazebo and I wanted to get the model state of cubes I create, so I made this method :
def show_gazebo_models(self):
try:
model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
for block in self._blockListDict.itervalues():
blockName = "block_" + str(block._name)
resp_coordinates = model_coordinates(blockName, "model")
print(blockName)
print("Cube " + str(block._name))
print("Valeur de X : " + str(resp_coordinates.pose.position.x))
print("Quaternion X : " + str(resp_coordinates.pose.orientation.x))
except rospy.ServiceException as e:
rospy.loginfo("Get Model State service call failed: {0}".format(e))
But this returns 0.00 for each print I made.
In documentation GetModelState needs two arguments : **model_name** and **relative_entity_name** and I don't know what I need to use for the second argument. (For model_name it's block_a for the first one, block_b for the second, etc)
↧
Gazebo not running on ROS Kinetic and Ubuntu 16.04
I am trying to run Gazebo on a virtual machine with ROS Kinetic and Ubuntu 16.04.
However, I ran into the following error. I searched it online. Some says to change SIGINT to INT. It still doesn't work. Could anyone help me with this?
VMware: vmw_ioctl_command error Invalid argument. Aborted (core dumped) /opt/ros/kinetic/lib/gazebo_ros/gazebo: 46: kill: invalid signal number or name: SIGINT
↧
Using Gazebo Simulator with Pioneer3dx Model
I have written code that I have run on MobileSim simulator for the Pioneer3dx model, and it runs on the actual robot, which used RosAria. Now I am trying to use the Gazebo simulator, since I need to use the physics engine, but I am getting really confused. I have looked online and gone through the Gazebo ROS tutorials but I still am not quite clear on what I need to do. Can I use ROS Aria in Gazebo? If so, how? If not, is there anything special I need for gazebo? How will I convert the code I had written for the robot using ROS Aria to the format Gazebo needs (because my code subscribes to topics such as /RosAria/pose and /RosAria/sonar, which will not not exist when ROS Aria is not running)? I am sorry for the million questions!
↧
How can I link RosAria and Gazebo for the pioneer P3DX
Hi,
I've just recently begun to work on a pioneer P3DX. Before trying to get it moving, I wanted to try it on a simulator.
I've run Aria with MobileSim fairly easily with the examples. So did I with RosAria and MobileSim following the tutorial and this : https://github.com/pengtang/rosaria_client
But when it comes to Gazebo and RosAria, I'm lost. I made a P3DX move with https://github.com/SD-Robot-Vision/PioneerModel and https://github.com/SD-Robot-Vision/p3dx_mover, but it's with ROS.
And since I ultimately want my robot moving in real life, I'm lost as how to get the RosAria example work on Gazebo. (Because i want the same code both working on Gazebo and on the P3DX)
And since I still don't understand all of this, even when reading this post about the exact same problem :
http://answers.ros.org/question/257057/using-gazebo-simulator-with-rosaria/
I'd wanted to know if someone could perhaps clarify it / help me on this.
I also found this, which pretty much is the same problem as mine :
http://answers.ros.org/question/215815/using-gazebo-simulator-with-pioneer3dx-model/
but there was no answers as of today.
I've tried to be as clear as possible, sorry if I still sound confusing.
Hdifsttar
↧
↧
ROS & Gazebo moving object following a trajectory
Hello all,
I pretty new to gazebo and ROS environment so I would like a little help on where to start with a project I am working on.
So, what I want to do is create a simulation for an object which could be anything from just a box or a quadrotor but only in the shape not in the properties. This object is governed by some kinematics which actually are a double integrator for acceleration in x and y directions. I have the state space system and I am currently implementing an optimal feedback control (MPC) in order for the object to follow a given trajectory.
What I would like to do is to simulate this scenario for an abstract object (I want to do upper level control) in Gazebo and ROS environment but I do not know from where to start.
A thought would be to have a model like the standing person model or the quadrotor model with a mass of 1 and find each time step to apply the force needed (F=m*a) in x and y in order for the object to follow the trajectory given. I do not know however neither how this could be done nor from where to start. So if you have any suggestions or tutorials that could help me with it, this would be very helpful.
Thank you a lot in advance!
↧
Spawner gets blocked when trying to use libhector_gazebo_ros_sonar
Hi guys! To get to the point,
I have an .xacro file where I am creating a simple 3-wheeled robot. I am trying to include a camera sensor that works fine and 3 sonar sensors using libhector_gazebo_ros_sonar. When I include the sonars the launching process stops at:
[INFO] [1495446798.750176, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1495446798.857894558, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
If I don't kill the process it fills up my RAM and everything freezes
After I kill the process with *CTRL+C* i see this warning:
[WARN] [1495446813.634902, 0.032000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
Code for sonar:
Gazebo/Red true 30.0 ${ray_count} 1 -${field_of_view/2} ${field_of_view/2} ${ray_count} 1 -${field_of_view/2} ${field_of_view/2} ${min_range} ${max_range} 0.01 0.005 sonar sonar_link /
↧
Problem loading huge .OBJ in Gazebo
Hi all,
I'm working on Ubuntu 14.04 with Gazebo 2.2.3 and I want to load the 3D models provided as .obj files by this dataset: http://buildingparser.stanford.edu/dataset.html
I followed this tutorial: https://www.youtube.com/watch?v=aP4sDyrRzpU
after that, I can see the model I created in the list, but if I try to insert it in the scene the window becomes black and gazebo gets stuck. The .dae file is 107mb, so maybe it's too big. Please, can someone point me out a solution?
Thanks, Federico
↧
Quick start into simulation
Hi, I need a few beginner hints. I have this (wiki.ros.org/aubo_robot/Tutorials/Getting%20Started%20with%20a%20Aubo%20Robotrobot) package and I would like to write a simple program, for example to move with one joint and then simulate and visualize it (gazebo, rviz,...? I don't really understand the differences). I have been stuck at the beginning for a few days and really don't know how to start. Thank you for your time and help.
↧
↧
Hector in simulation using turtlebot
I'm using ros indigo and trying to properly use hactor_mapping and _slam with turtlebot in gazebo. I couldn't find any tutorials on how to do that. Is it possible or it works best with a real turtlebot?
If it is possible to use it in simulation, are there any guides for doing that?
↧
Robot wabbles in gazebo
I have been working on a robot, and have got it to move in gazebo. Unfortunately, the robot does not go straight when given the command:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x:1.0...
it makes the robot move forward in a wabble or teetering way that seems like one wheel is moving at a time.
The files are located here: https://github.com/matrhint/src
Thanks in advance for any help.
↧
Making a jumping moment gyroscope in gazebo, possible?
I've been working on making a jumping gyroscope and need to make the flywheels for testing. I however am thinking to try and play with it as a simulation.
Can this be done in gazebo, can the physic engine used understand and obtain the kinetic energy stored in the flywheel and make the cube jump once the flywheel is being stopped?
↧
How do you move a 3 joint(finger) using sendgoal?
Currently, my sendgoal have a move_group interface solemly for my robot's arm and now i am adding in a new sets of codes to move my finger simultaneously.
I have added a duplicate of the right arm's FollowJointTrajectoryActionGoal codes and adjusted it to fit my finger.
Everything complied nicely, but when i run the sendgoal node. My simulation(gazebo) died/crash.
Below is a show of my current codes, Goalf is for the finger,
//finger
// Move the robot (in simulator)
for (int num_idx = 0; num_idx < num_positions_to_move; num_idx++) // each step in trajectory
{
goalf.goal.trajectory.points[num_idx].positions.resize(gf_joint_names.size());
for (int i = 0; i < gf_joint_names.size(); i++)
goalf.goal.trajectory.points[num_idx].positions[i] = target_locf[i];
// print the movement
for (int k = 0; k < gf_joint_names.size(); k++) // relay the movement in joint angles [rad] to the user
printf("%f, ", goalf.goal.trajectory.points[num_idx].positions[k]);
printf("-- \n");
// move every dt=T_STEP seconds --> i.e. speed = eef_step/dt
goalf.goal.trajectory.points[num_idx].time_from_start = ros::Duration(T_STEP * (num_idx+1));
}
// finally publish goal, count and sleep according to movement frequancy
// goal_pub.publish(goal);
goal_pubf.publish(goalf);
Please advice on whats wrong.
Thank you in advance.
↧
↧
How do I center a robot in a corridor (gazebo)
I have a simple differential drive robot with a hokuyo range sensor having range -100deg to +100deg and i want the robot to center itself in a corridor and also move parallel to the wall .The Simulation is done in gazebo using ros indigo
Thanks!
↧
move group execution error
Hi,
I am trying to go over this (https://www.wilselby.com/research/ros-integration/3d-mapping-navigation/) to be able to use MoveIt for quadrotor navigation simulation.
When I execute the planned path via Rviz, move_group dies with exit_code -11.
The full console output wih debug option can be seen here: http://pasted.co/06df3cc5
This is, I think, where the error's generated.
Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffb2ffd700 (LWP 19341)]
0x00007ffff52d3c85 in trajectory_execution_manager::TrajectoryExecutionManager::validate(trajectory_execution_manager::TrajectoryExecutionManager::TrajectoryExecutionContext const&) const ()
from /opt/ros/indigo/lib/libmoveit_trajectory_execution_manager.so.0.7.3
↧
Gazebo how to read mesh material with sensor
Hi all,
I have a 3d semantic model of a large-scale environment. That is, an .obj file with the scene geometry along with the .mtl file where the materials are the face labels (e.g. ceiling,floor,wall,etc...). I imported it into gazebo by converting the obj file into dae and I'm able to visualize it correctly. What I would like to do now is to read for each face of the mesh, currently in the field of view of the camera mounted on a robot, the corresponding label. Can someone please show me how this can be done?
Thanks!
Federico
↧