Hi I am currently running ROS kinetic with gazebo 7.0.0. But I am having some issues with gazebo specifically, [this](http://answers.ros.org/question/276241/turtlebot-sim-crashes-on-subscribing-to-any-topic/) . These bugs apparently can be resolved by updating the gazebo version to 7.8. Is there a way to do this?
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upgrade to gazebo 7.8
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When working with amcl why does the robot try to move closer to the wall in an open area rather than navigating more towards the goal?
For example, the following
The robot is closer to the wall instead of following the path to the goal (green line).
I have noticed that happen all the time. Why is that so? Is there a particular parameter that influences this? As soon as the robot gets close to the wall it gets better at navigating straight to the goal I think. Or is it something related to amcl algorithm(s)?
Here is the robot shortly after reaching close to wall and then moving towards the goal again.
What causes such a pattern/behavior?
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Mimic tag working in rviz but not in gazebo
Hi everyone,
Hi everyone,
I have added a self-designed gripper to the UR5 (mimics are needed because the gripper is based on parallel kinematics). But for some reason this is still not properly visualized in gazebo, however it is visualized correctly in rviz.
Because the latest Q/A I have seen about this topic is is around 2 years ago;
Could somebody confirm to me if this is still a problem?
The result is shown here:
I would be happy to hear what you think!
Thanks in advance,
Edwin van Emmerik
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navigation in gazebo
Hi guys , i am a beginner for ROS. i write a urdf robot and attach diff_drive and hokuyo_laser plugin on it , with configure and use slam_gmapping i can teleop my 'robot(urdf)' in gazebo and build map . but still can't navigation in gazebo , i don't know ho w to do it .
the question is ,when i spawn my model i see some warn ,i don't know.......
[ INFO] [1422432448.072115642, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1422432448.133383656, 0.081000000]: Physics dynamic reconfigure ready.
[ INFO] [1422432497.779480058, 49.026000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1422432497.779620674, 49.026000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1422432497.847324932, 49.026000000]: Laser Plugin (ns = /) , set to ""
[ INFO] [1422432497.908139397, 49.026000000]: Starting plugin DiffDrive(ns = //)!
[ WARN] [1422432497.908227139, 49.026000000]: DiffDrive(ns = //): missing default is na
[ INFO] [1422432497.910157650, 49.026000000]: DiffDrive(ns = //): =
[ WARN] [1422432497.910608101, 49.026000000]: DiffDrive(ns = //): missing default is false
[ WARN] [1422432497.910649709, 49.026000000]: DiffDrive(ns = //): missing default is false
[ WARN] [1422432497.910940987, 49.026000000]: DiffDrive(ns = //): missing default is 0
[ WARN] [1422432497.910981351, 49.026000000]: DiffDrive(ns = //): missing default is 5
[ WARN] [1422432497.911654704, 49.026000000]: DiffDrive(ns = //): missing default is 1
[ WARN] [1422432497.912120315, 49.026000000]: GazeboRosDiffDrive Plugin (ns = ) missing , defaults to 1
[ INFO] [1422432497.925900930, 49.026000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel!
[ INFO] [1422432497.932386235, 49.026000000]: DiffDrive(ns = //): Subscribe to cmd_vel!
[ INFO] [1422432497.933865558, 49.026000000]: DiffDrive(ns = //): Advertise odom on odom !
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Subscribe to a Gazebo topic and publish in a ROS node
Hi.
My idea is quite simple. Launching the turtlebot3 simulation, I would like to get /LaserScan information from gazebo and use it in a ROS node. Is there any example I can follow? I would like to do it in only one .pp file, not 2 separated (like the talker/listener tutorial).
Any help or reference would be really appreciated!
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Creating custom Gazebo world files from sdf's/dae's for use with roslaunch
Hi,
I have been trying to figure this out for a couple of days now and am having trouble. Basically I want to create a world file to be launched via roslaunch that is composed of number of model sdf's that reference local meshes from within my package (e.g., file://mesh_name.dae
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Error launching Gazebo
Hi all. When I try to launch Gazebo I get this error:
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 1982, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/as/.ros/log/e68bf484-cfc4-11e7-9ecc-e9c8b733df76/gazebo_gui-3.log].
log file: /home/as/.ros/log/e68bf484-cfc4-11e7-9ecc-e9c8b733df76/gazebo_gui-3*.log
My question is: this error appears because my laptop is old or because I did something wrong when I installed ROS?
Of course I am new in this field.
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Including another robot part via xacro
Hi, I've been trying to attach a gripper to my manipulator and I've decided it would be best for my project if it was in another file. The problem is that I can't seem to do this correctly, when running the gazebo simulation I get the message
Error [parser_urdf.cc:3474] Unable to call parseURDF on robot model
Error [parser.cc:342] parse as old deprecated model file failed.
[INFO] [1511876200.859116, 10.141000]: Spawn status: SpawnModel: Entity pushed to spawn queue, but spawn service timed out waiting for entity to appear in simulation under the name Kuka_kr3
And the robot will not spawn. Below I attach the codes for robot and gripper. Another question that I have, is that I've made these files in similar fashion, but I don't know if I can use the macros defined in the manipulator file in gripper definition? So far, I've written it as a standard urdf file.
Manipulator file
/kuka_kr3 0.5 0.5 Gazebo/${color} transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface EffortJointInterface 1 /gripper 0.5 0.5 Gazebo/Orange 0.5 0.5 Gazebo/Red 0.5 0.5 Gazebo/Red transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1 transmission_interface/SimpleTransmission EffortJointInterface EffortJointInterface 1
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ur5 prismatic base phidgets stepper
I have a UR5 with a prismatic base actuated with phidgets stepper motor. I can individually control/ move these using moveIT and libphidgets21 or Gazebo. I edited the URDF and all necessary files to make the prismatic base behave like a 7th DoF in Gazebo simulation. The default IK and motion planning can nicely plan and execute in simulation. The joint state topic now has 7 parameters rather than 6 because of the new addition.
However, I'm having some difficulty doing this in the actual hardware. How do I explain to ROS that the prismatic base is a phidgets stepper? In simulation all I had to do was add appropriate joint/link name and transmission type. This is on Kinnect Ubuntu 16.04. Appreciate your thoughts.
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Moving Joints in Gazebo simple example?
Hello Guys,
i have created my own arm model in gazebo with models from blender. I combine all meshes with joints to have a arm. Now i have no idea how i could move the joints.
I have a SDF model with 4 joints. Now i tried Ros Control but in the tut it was written it is for URDF models. Can i use it for SDF models too? Is there another option when i can´t use ros control?
Or would it be easier to use Ros with Move it for such an task ?
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Robot Simulation on Gazebo
Hi there,
I would like to ask if it is possible to simulate robot climbing a wall on Gazebo?
Thank you!
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gazebo hangs loading turtlebot world (skipping xml document gmapping)
Hi!
I'm trying to run turtlebot_gazebo in kinetic. Gazebo starts, but wait forever (I have both the main window and the splash screen).
Here are the logs:
$ roslaunch turtlebot_gazebo turtlebot_world.launch
... logging to /home/fma/.ros/log/2ca1d2a6-d66c-11e7-8958-0800272f65ee/roslaunch-roscore-1716.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
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://roscore:53432/
SUMMARY
========
PARAMETERS
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /opt/ros/kinetic/...
* /depthimage_to_laserscan/output_frame_id: /camera_depth_frame
* /depthimage_to_laserscan/range_min: 0.45
* /depthimage_to_laserscan/scan_height: 10
* /robot_description: , set to ""
[ INFO] [1512121746.939729408, 0.010000000]: Starting plugin Kobuki(ns = //)
[ WARN] [1512121746.939814059, 0.010000000]: Kobuki(ns = //): missing default is na
[ INFO] [1512121746.941314316, 0.010000000]: Kobuki(ns = //): =
[ INFO] [1512121746.941521583, 0.010000000]: Will publish tf. [mobile_base]
[ INFO] [1512121746.956627205, 0.010000000]: Kobuki(ns = //): Advertise joint_states[joint_states]!
[ INFO] [1512121746.969620341, 0.010000000]: Kobuki(ns = //): Advertise Odometry[odom]!
[ INFO] [1512121746.989525494, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/motor_power!
[ INFO] [1512121747.023030089, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/reset_odometry!
[ INFO] [1512121747.050171136, 0.010000000]: Kobuki(ns = //): Try to subscribe to mobile_base/commands/velocity!
[ INFO] [1512121747.056127892, 0.010000000]: Kobuki(ns = //): Advertise Cliff[mobile_base/events/cliff]!
[ INFO] [1512121747.056930586, 0.010000000]: Kobuki(ns = //): Advertise Bumper[mobile_base/events/bumper]!
[ INFO] [1512121747.059195695, 0.010000000]: Kobuki(ns = //): Advertise IMU[mobile_base/sensors/imu_data]!
[ INFO] [1512121747.059221023, 0.010000000]: GazeboRosKobuki plugin ready to go! [mobile_base]
[ INFO] [1512121747.099818543, 0.040000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[spawn_turtlebot_model-3] process has finished cleanly
log file: /home/fma/.ros/log/25e1637e-d67a-11e7-9668-0800272f65ee/spawn_turtlebot_model-3*.log
[ INFO] [1512121747.592751682, 0.480000000]: Physics dynamic reconfigure ready.
But then, the gazebo window freezes (it was not before this output appear)...
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Are ROS Gazebo installers broken? Each time fails to load models.
Were they ever updated, because it feels like they are old and broken.
For last few days im trying to come up with a fail-proof seamless method of installing ROS and gazebo with turtlebot.
Each time im stuck at the same step, after sucessfull installation and everything,i launch gazebo (either simply gazebo or roslaunch turtlebot_gazebo turtlebot_world.launch) and gazebo gets stuck at:
Warning [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
Error [gazebo.cc:220] Waited 11 seconds for namespaces. Giving up.
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
Error [Node.cc:90] No namespace found
In result the whole world loads empty and i cant place any models in it because library is empty.
At first i was trying with Ubuntu 14 and ROS Indigo. Then i updated to Ubuntu 16 and ROS Kinetic. The issue is still present. Im using this tutorial step by step (of course for indigo i use indigo version and for kinetic i use kinetic) http://wiki.ros.org/kinetic/Installation/Ubuntu and i also follow steps from this part http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
Everything checks out exactly as described untill i try to launch gazebo...
Ive seen this topic, not a single solution from there helped me, https://answers.ros.org/question/199401/problem-with-indigo-and-gazebo-22/ , downloading models manually is not an option.
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Custom Gazebo world doesn't load
I created a custom gazebo world for my turtleBot constaining several walls and saved it as a .world file. However when I run the world file using the command
roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=/home/PI/turtlebot_custom_gazebo_worlds/final1.world
the walls that i created do not load. just the turtlebot loads. the process in the terminal starts without giving any error. when i check the .world file the code related to the walls is clearly present.
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[Gazebo] Need working >170° wide angle camera model
Hey guys,
i want a ultra wide angle camera. The examples from the Gazebo site doesn't work with copy&paste. I simply want a model with wide angle to use it with ar track alvar.
Does anybody has a working model which he can provide? Thx in advance.
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ROS kinetic gazebo turtlebot - explanation of otpic
Hello,
Is there any article that explains what each topic from turtlebot simulated in gazebo does?
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Use of diff_drive_controller to simulate a differential drive in Gazebo
Did anybody manage to use **diff_drive_controller** in to simulate a **differential drive** in Gazebo**?
Theoretically should work if the gazebo_ros_control (libgazebo_ros_control.so) plug in is used in Gazebo but there is a note that the hardware_interface::VelocityJointInterface is not fully implemented.
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Anyone using Asus K55VM-SX086D Laptop for running ROS
Hello community
I saw few threads regarding laptop recommendation, please forgive me for adding one more.
I am planning to buy Asus K55VM-SX086D Laptop (http://www.flipkart.com/asus-k55vm-sx086d-laptop-3rd-gen-ci7-8gb-1tb-dos-2gb-graph/p/itmd7vs3cgw4twkr)
I am going for a laptop coz I will be moving a lot (so desktop is not an option). Mostly I will be doing my work on a simulated home environment with PR2 robot.
Running object manipulation stack (and also navigation).
Kindly let me know:-
- If someone is using this or similar config (i7 3610QM, 2.3 GHz with Turbo Boost Upto 3.3 GHz, 6MB Cache, NVIDIA GeForce GT 630M 2GB, 8GB RAM), how much simulation speed can I expect when I will be running:-
- PR2 in simulated home (say 10 table chair and 20 household graspable object)
- While object manipulation stack will be called.
- With navigation stack.
- I would like to have a speed of at least 0.15x when running those stacks. With my experience on i3 desktop I guess I should get this much on this machine. However if not then any better laptop suggestion. My budget can go up to twice as much as this.
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Hector quadrotor + Turtlebot in one environment
Hi everyone,
I am facing a problem while creating a simulation environment and I am stuck at it for a few days now. I want to spawn hector quadrotor and a turtlebot in the same simulation environment. The next step will be to use hector_slam to map the environment and then pass that information to turtlebot which will navigate through the environment and generate a 3-D map of it.
I am able to spawn two of them in a single environment in the gazebo, however, Rviz cannot visualize both of them simultaneously. How can I visualize both of them in the same environment in Rviz?
Also, on the side note, hector_slam package cannot find a transform between base_footprint and world. I am using namespaces here and I have ensure that correct world and base_footprint frames are being passed. I don't know what should I do in order to resolve this issue?
Any input on any of the problems will be very helpful to me!
Thank you in advance!
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crash when using .png heightmap and Velodyne 3D LIDARs
I'm testing Velodyne high definition 3D LIDARs in gazebo:
`roslaunch velodyne_gazebo example.launch`
It will load a 16 laser model.
And I have already prepared a heightmap following this [tutorial](https://www.vimeo.com/58409707) .
After loading the heightmap(65x65 (pixels), 10mx10m, a larger map also results in crash ) I made, gazebo will not responde.
Sometimes the ***real time foctor*** will be around 0.3 when I use 1 beam LiDAR in a .png heightmap.
I think the reason gazebo will crash is that my laptop‘s hardware performance is not good enough.
Are there any ways to optimize the program to continue the simulation with my laptop? or should I use another computer??
Or maybe there is another reason for the crash.
Thanks in advance.
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