Hello~ I'm new in ROS and am learning it by the tutorials.However,there were some errors when I followed the [Tutorial: Using a URDF in Gazebo](http://gazebosim.org/tutorials/?tut=ros_urdf).
Everthing is normal until I ran the the command:
roslaunch rrbot_gazebo rrbot_world.launch
However, it seems I can start gazebo by command line.
Thanks a lot for your help!
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ERROR: can't locate node in package [gazebo_ros]
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Prismatic joint with PositionJointInterface interferes with Gazebo physics
I working on a simulation model of a forklift using ROS control and Gazebo. I'm using a prismatic joint to simulate the piston moving the forks up and down. Since I added a PositionJointInterface to the joint transmission I have been having issues with the physics. It seams to fix the joint in place. If I put the forklift in the air it hangs there, swinging by the joint, instead of falling down. This does not happen if I use the VelocityJointInterface or EffortJointInterface.
Is this a bug or am I using the position controller incorrectly?
![Forklift refusing to fall]()
Here is the transmission
transmission_interface/SimpleTransmission PositionJointInterface PositionJointInterface 1
Here is the transmission
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Hector sonar implementation on a Pioneer 3DX
Hello,
I'm working on a simulation of two Pioneer-3DX robots on Gazebo. (Debian Stretch / Gazebo 7 / ROS Kinetic)
I'm trying to implement sonar readings with Hector_sonar (to make one robot follow the other) but it seems like it doesn't work.
The problem I face is that I don't get any range/sonar display on rviz and the range I get from the sonar is always the same, even when the p3dx is alone with nothing around it (range moves between 0.04 and 0.05 which is not really what I would expect).
Here's how I did :
I cloned in my catkin_ws/src : https://github.com/tu-darmstadt-ros-pkg/hector_models
I used https://github.com/tu-darmstadt-ros-pkg/hector_models/blob/groovy-devel/hector_sensors_description/urdf/sonar_sensor.urdf.xacro from hector_models package to make my pioneer3dx_sonar.xacro :
true ${update_rate} 0 0 0 0 0 0 false ${ray_count} 1 -${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 ${ros_topic} ${name}_link
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Synchronous communication with gazebo
Hi,
I am trying to implement a robot controller using ros + gazebo - So, what I want it to tell gazebo a particular command and then gazebo should return the state after 1 second. And after that it should pause itself.Now, I do some processing and again give a command - and it should again run for only 1 second.
I need my actions to be used for equal amounts of time.
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Source build of Ros Lunar Gazebo / Husky on Debian Stretch
Attempting to make and launch Husky in gazebo simulator.
jeffa@lunar:~$ uname -a
Linux lunar 4.9.0-2-amd64 #1 SMP Debian 4.9.18-1 (2017-03-30) x86_64 GNU/Linux
jeffa@lunar:~$
root@lunar:/etc/apt/sources.list.d# cat ros-latest.list
deb http://packages.ros.org/ros/ubuntu stretch main
I followed the directions Debian install of ROS Lunar `apt-get install ros-lunar-desktop-full` This is on an old HP tx2000.
I make husky / gazebo by downloading source, eventually I get a clean build. Some of the packages I used seemed pretty old. Wherever possible I attempted to use the lunar branch of the git repositories.
jeffa@lunar:~/catkin_ws/src$ ll
total 4
drwxr-xr-x 4 jeffa jeffa 4096 May 28 12:44 beginner_tutorials
lrwxrwxrwx 1 jeffa jeffa 48 May 28 04:48 CMakeLists.txt -> /opt/ros/lunar/share/catkin/cmake/toplevel.cmake
lrwxrwxrwx 1 jeffa jeffa 37 Jun 3 18:44 cpr_multimaster_tools -> /home/jeffa/git/cpr_multimaster_tools
lrwxrwxrwx 1 jeffa jeffa 31 Jun 4 00:11 gazebo_ros_pkgs -> /home/jeffa/git/gazebo_ros_pkgs
lrwxrwxrwx 1 jeffa jeffa 31 Jun 3 19:17 geographic_info -> /home/jeffa/git/geographic_info
lrwxrwxrwx 1 jeffa jeffa 21 Jun 3 18:31 husky -> /home/jeffa/git/husky
lrwxrwxrwx 1 jeffa jeffa 47 Jun 3 22:12 interactive_marker_twist_server -> /home/jeffa/git/interactive_marker_twist_server
lrwxrwxrwx 1 jeffa jeffa 22 Jun 3 19:47 lms1xx -> /home/jeffa/git/lms1xx
lrwxrwxrwx 1 jeffa jeffa 32 Jun 3 20:22 multimaster_fkie -> /home/jeffa/git/multimaster_fkie
lrwxrwxrwx 1 jeffa jeffa 31 Jun 3 19:09 navigation_msgs -> /home/jeffa/git/navigation_msgs
lrwxrwxrwx 1 jeffa jeffa 34 Jun 3 19:13 robot_localization -> /home/jeffa/git/robot_localization
lrwxrwxrwx 1 jeffa jeffa 24 Jun 3 20:44 ros_comm -> /home/jeffa/git/ros_comm
lrwxrwxrwx 1 jeffa jeffa 29 Jun 1 13:29 ros_tutorials -> /home/jeffa/git/ros_tutorials
lrwxrwxrwx 1 jeffa jeffa 38 Jun 3 12:48 teleop_twist_keyboard -> /home/jeffa/git/teleop_twist_keyboard/
lrwxrwxrwx 1 jeffa jeffa 25 Jun 3 22:23 twist_mux -> /home/jeffa/git/twist_mux
lrwxrwxrwx 1 jeffa jeffa 34 Jun 3 19:20 unique_identifier -> /home/jeffa/git/unique_identifier/
jeffa@lunar:~/catkin_ws/src$
At this point it's built and runs, that is the husky model appears in gazebo. I invoke it as follows. - Sometimes I runt it twice with it loading the model sporadically. This line looks suspicious and the long indicates "ontroller Spawner couldn't find the expected controller_manager ROS interface."
I have read a couple answers on this forum that were helpful, but I haven't solved this for myself. Any additional insight for me, or additional trouble shooting suggestions?
The .launch file
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simulated stereo camera fails when remapping topics
Dear all,
I'm trying to simulate the Multisense SL device in Gazebo.
I've started by modifying the plugin available here:
https://bitbucket.org/osrf/drcsim/src/194be8500fef81593f79607a21ee2badd9700a0e/drcsim_gazebo_ros_plugins/src/?at=default
The Gazebo-related URDF is the following:
0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 1 0 0 0 0 0 0 false 40 1081 1 -2.356194 2.356194 0.10 30.0 0.01 gaussian 0.0 0.0 ${prefix}/lidar_scan ${prefix}/head_hokuyo_frame 10.0 1.3962634 1024 1024 R8G8B8 0.02 300 gaussian 0.0 0.007 0 -0.07 0 0 0 0 1.3962634 1024 1024 R8G8B8 0.02 300 gaussian 0.0 0.007 true 10.0 ${prefix}/camera image_color camera_info ${prefix}/left_camera_optical_frame ${prefix}/right_camera_optical_frame 0.07 0.0 0.0 0.0 0.0 0.0 1 1000.0 gaussian 0.0 2e-4 0.0000075 0.0000008 0.0 1.7e-2 0.1 0.001 ${robot_name}
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Not getting all roslaunch turtlebot_ packages
Hi,
I am following a ROS download tutorial and currently trying to get turtlebot working. Just for reference, I am on Ubuntu 16.04 and using ROS Kinetic. The tutorial says that when I enter "roslaunch turtlebot_ (tab)(tab)" I should see many (17 to be exact) packages including turtlebot_gazebo. When I run this, I see only 4: bringup, capabilities, description, and teleop.
Does anyone know how I can get gazebo and the rest?
Thanks!
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TF error after updating Gazebo
Hello!
I am using ROS Kinetic on Ubuntu 16.04. I had a running implementation of the navigation stack (amcl/gmapping) and I was performing the simulations using Gazebo 7. I upgraded to Gazebo 8 to add animated obstacles (humans/other robots) and ever since I did that, I am seeing the following error when I launch the AMCL launch file:
> Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.101 timeout was 0.1.
When I run 'rosrun tf view_frames', the resulting pdf shows 'no tf data received'. I am unsure what to do since everything was working perfectly until I updated Gazebo. Please help!
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Simulating a Structured Light Sensor in Gazebo
Hello,
I am in the process of working on a system that will end up using a structured light sensor similar to the one being depicted in the image below, and I was wondering what the best way to simulate this sensor in Gazebo was/if it already has been.
One idea was to take two depth camera's and AND their pointclouds together, that way if one of the cameras were obstructed or part of either's FOV was obstructed, it would cast a shadow.
Looking for input and help to ensure we have as realistic of a simulation as possible.
Thanks in advance!
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Robot "Headlights" in Gazebo
Is it possible to include headlights (or any type of mounted lighting fixture) on your robot model in Gazebo?
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Publishing problem with gazebo using trajectory_msgs
Hi everyone,
I'm working on arm robotic, first, i wrote a physical model of the arm with a URDF files. This model work with Rviz and Gazebo. Moreover, i created a controllers.yaml file (for controls all robot's joints) and when I use the command : `rostopic pub /arm_controller/command trajectory_msgs/JointTrajectory '{joint_names: ["hip","shoulder","elbow","wrist"], points: [{positions:[0.1,-0.5,0.5,0.75], time_from_start: [1.0,0.0]}]}' -1` both models (on rivz and gazebo) move simultaneously.
But now, I want to create a .cpp file for the arm to move independently by using trajectory_msgs::JointTrajectory. Here's my cpp file :
#include
#include
ros::Publisher arm_pub;
int main(int argc, char** argv) {
ros::init(argc, argv, "state_publisher");
ros::NodeHandle n;
arm_pub = n.advertise("/arm_controller/command",1);
trajectory_msgs::JointTrajectory traj;
traj.header.stamp = ros::Time::now();
traj.header.frame_id = "base_link";
traj.joint_names.resize(4);
traj.points.resize(4);
traj.joint_names[0] ="hip";
traj.joint_names[1] ="shoulder";
traj.joint_names[2] ="elbow";
traj.joint_names[3] ="wrist";
while(ros::ok()){
for(int i=0;i<4;i++) {
int j = i%3;
trajectory_msgs::JointTrajectoryPoint points_n;
points_n.positions.push_back(j+0.1);
points_n.positions.push_back(j+0.3);
points_n.positions.push_back(j+0.3);
points_n.positions.push_back(j);
traj.points.push_back(points_n);
traj.points[i].time_from_start = ros::Duration(1.0,0.0);
}
arm_pub.publish(traj);
ros::spinOnce();
}
return 0;
}
When i launch my file.launch and I rosrun my cpp file, both are connected on rqt_graph.
But immediately, i have an error (on launch terminal) :
> [ERROR] [1497596211.214814221, 9.889000000]: Trajectory message contains waypoints that are not strictly increasing in time.
Effectively, when i use the command `rostopic echo /arm_controller/command`, i have :
`positions: [0.0, 1.0, 0.0, 2.0]
velocities: []
accelerations: []
effort: []
time_from_start:
secs: 0
nsecs: 0`
The time_from_start is always 0. So, I think i've a problem in my code but i don't know where.
Does anyone have an idea what is wrong?
Thank you.
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Why does my robot skid ?
Hi all. I have a simple robot (like a car) but when it rolls it skids and I don't want it
I tried :
- Decrease / increase mass
- Set mu1 and mu2 of every links to Inf
- Set mu1 and mu2 of my world ground plane to inf
Joint between motor and wheel :
true
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Quadricopter using ROS (rosjava) and Gazebo
Does anyone know of any quadricoptero implemented in Java and that can be used with ROS and GAZEBO?
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Spawning multiple robots with diff_drive_controller
**Target:** I am trying to spawn multiple robots in Gazebo and also using ros_control, for this I group each one like in the launch files bellow.
**Problem(s):** No odometry, tf points to only one robot: base_link, no control on the joints
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teb local planner - min obstacle height to put in local cost map
Is there a parameter that lets me specify the min height of the obstacle to put in the teb local planner,like there is with Trajectory planner ROS?
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Moving model out of origin gives error
I'm trying to move hector_quadrotor from origin to position `(-12.0, -1, 0)` in the world.
The hector_quadrotor model is made of many parts. One of them, is the `sonar sensor`.
My code to place it in the word follows:
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ROS real robot
I'm very new to ROS I'm using ROS indigo.I have simulated an arm in gazebo and able to control it from rviz using motion planning I used Moveit setup assistant tool.Now i have so many topics on my **rostopic list**
I now want to control a real arm.What has to be done for that.
I'm using arduino to control the servos using rosserial.
What topic should i listen to ?
How to convert the trajectories to angles for controlling servos ?
[C:\fakepath\topics_1.png](/upfiles/1498049520141679.png)
[C:\fakepath\Topics_2.png](/upfiles/14980495298434908.png)
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Cannot connect mavros to gazebo
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ECPC:45272/
SUMMARY
========
CLEAR PARAMETERS
* /mavros/
PARAMETERS
* /mavros/cmd/use_comp_id_system_control: False
* /mavros/conn/heartbeat_rate: 1.0
* /mavros/conn/system_time_rate: 1.0
* /mavros/conn/timeout: 10.0
* /mavros/conn/timesync_rate: 10.0
* /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
* /mavros/distance_sensor/hrlv_ez4_pub/id: 0
* /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
* /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/laser_1_sub/id: 3
* /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/laser_1_sub/subscriber: True
* /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
* /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
* /mavros/distance_sensor/lidarlite_pub/id: 1
* /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
* /mavros/distance_sensor/lidarlite_pub/send_tf: True
* /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
* /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
* /mavros/distance_sensor/sonar_1_sub/id: 2
* /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
* /mavros/distance_sensor/sonar_1_sub/subscriber: True
* /mavros/fcu_url: udp://localhost:1...
* /mavros/gcs_url: udp://localhost:1...
* /mavros/global_position/frame_id: fcu
* /mavros/global_position/rot_covariance: 99999.0
* /mavros/global_position/tf/child_frame_id: fcu_utm
* /mavros/global_position/tf/frame_id: local_origin
* /mavros/global_position/tf/send: False
* /mavros/image/frame_id: px4flow
* /mavros/imu/angular_velocity_stdev: 0.000349065850399
* /mavros/imu/frame_id: fcu
* /mavros/imu/linear_acceleration_stdev: 0.0003
* /mavros/imu/magnetic_stdev: 0.0
* /mavros/imu/orientation_stdev: 1.0
* /mavros/local_position/frame_id: fcu
* /mavros/local_position/tf/child_frame_id: fcu
* /mavros/local_position/tf/frame_id: local_origin
* /mavros/local_position/tf/send: False
* /mavros/local_position/tf/send_fcu: False
* /mavros/mission/pull_after_gcs: True
* /mavros/mocap/use_pose: True
* /mavros/mocap/use_tf: False
* /mavros/odometry/estimator_type: 3
* /mavros/plugin_blacklist: ['safety_area', '...
* /mavros/plugin_whitelist: []
* /mavros/px4flow/frame_id: px4flow
* /mavros/px4flow/ranger_fov: 0.0
* /mavros/px4flow/ranger_max_range: 5.0
* /mavros/px4flow/ranger_min_range: 0.3
* /mavros/safety_area/p1/x: 1.0
* /mavros/safety_area/p1/y: 1.0
* /mavros/safety_area/p1/z: 1.0
* /mavros/safety_area/p2/x: -1.0
* /mavros/safety_area/p2/y: -1.0
* /mavros/safety_area/p2/z: -1.0
* /mavros/setpoint_accel/send_force: False
* /mavros/setpoint_attitude/reverse_throttle: False
* /mavros/setpoint_attitude/tf/child_frame_id: attitude
* /mavros/setpoint_attitude/tf/frame_id: local_origin
* /mavros/setpoint_attitude/tf/listen: False
* /mavros/setpoint_attitude/tf/rate_limit: 10.0
* /mavros/setpoint_position/tf/child_frame_id: setpoint
* /mavros/setpoint_position/tf/frame_id: local_origin
* /mavros/setpoint_position/tf/listen: False
* /mavros/setpoint_position/tf/rate_limit: 50.0
* /mavros/startup_px4_usb_quirk: True
* /mavros/sys/disable_diag: False
* /mavros/sys/min_voltage: 10.0
* /mavros/target_component_id: 1
* /mavros/target_system_id: 1
* /mavros/tdr_radio/low_rssi: 40
* /mavros/time/time_ref_source: fcu
* /mavros/time/timesync_avg_alpha: 0.6
* /mavros/time/timesync_mode: MAVLINK
* /mavros/vibration/frame_id: vibration
* /mavros/vision_pose/tf/child_frame_id: vision
* /mavros/vision_pose/tf/frame_id: local_origin
* /mavros/vision_pose/tf/listen: False
* /mavros/vision_pose/tf/rate_limit: 10.0
* /mavros/vision_speed/listen_twist: False
* /robot_description:
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
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Turtlebot simulator laser scan not working.
Hi everyone,
I'm learning ROS and I'm trying to follow this tutorial link: http://wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Explore%20the%20Gazebo%20world, when I put several objects in the gazebo, and ran the command
**roslaunch turtlebot_rviz_launchers view_robot.launch**. I expected to see the laser sensor and camera can read this and show their information in the Rviz, however it just gave me a blank screen without any sensory information. The image doesn't work properly either. Anybody has any ideas ? I'm using ubuntu 12.04, ROS Hydro, and gazebo 1.9.6. The global fixed frame is "base_link", the laserscan topic is /scan, and the image topic is /camera/depth/image_raw and /camera/rgb/image_raw
Thanks very much !
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How to stop moving of turtlebot on ROS Hydro Gazebo?
I run the following instructions to launch turtlebot on gazebo:
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=asus_xtion_pro
roslaunch turtlebot_gazebo turtlebot_empty_world.launch
I make sure I do not send any twist but the robot move autonomously.
Here are two pictures to verify this:
How to solve this?
Thank you very much!
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