Can anyone help me understand how this message works? I have an ur10 robot and I would like to controlling it by setting an end-effector position and make the robot move to that point. I stumble with this message but can't seem to understand if this is the one appropriate to my purposes.

Hello everyone, I'm a totally ROS rookie and I have the following problem: - It's my aim to simulate Nao in Gazebo using plain ros_control architecture. See also: (https://github.com/ros-naoqi/nao_virtual) ****************************************** - My procedure: 1) I create a Workspace (catkin workspace) mkdir -p ~/nao_ws/src cd ~/nao_ws/src catkin_init_workspace cd~/catkin_ws catkin_make 2) Subsequently: cd ~/nao_ws/src git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git git clone https://github.com/pal-robotics/pal_msgs.git git clone https://github.com/pal-robotics/pal_gazebo_plugins.git catkin_make ****************************************** catkin_make command produced the following error: CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package): Could not find a package configuration file provided by "humanoid_nav_msgs" with any of the following names: humanoid_nav_msgsConfig.cmake humanoid_nav_msgs-config.cmake Add the installation prefix of "humanoid_nav_msgs" to CMAKE_PREFIX_PATH or set "humanoid_nav_msgs_DIR" to a directory containing one of the above files. If "humanoid_nav_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): pal_msgs/pal_walking_msgs/CMakeLists.txt:4 (find_package) -- Could not find the required component 'humanoid_nav_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "humanoid_nav_msgs" with any of the following names: humanoid_nav_msgsConfig.cmake humanoid_nav_msgs-config.cmake Add the installation prefix of "humanoid_nav_msgs" to CMAKE_PREFIX_PATH or set "humanoid_nav_msgs_DIR" to a directory containing one of the above files. If "humanoid_nav_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): pal_msgs/pal_walking_msgs/CMakeLists.txt:4 (find_package) -- Configuring incomplete, errors occurred! See also "/home/christopher/nao_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/christopher/nao_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed ****************************************** My Ubuntu version: 14.04 (Indigo) Can anybody help me further? Many thanks and best regards

Hello everyone, I'm a totally ROS rookie and I have the following problem: - It's my aim to simulate Nao in Gazebo using plain ros_control architecture. See also: (https://github.com/ros-naoqi/nao_virtual) ****************************************** - My procedure: 1) I create a Workspace (catkin workspace) > mkdir -p ~/nao_ws/src>> cd ~/nao_ws/src>>> catkin_init_workspace>>> cd~/catkin_ws>> catkin_make 2) Subsequently: > cd ~/nao_ws/src>> git clone> https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git>> git clone> https://github.com/pal-robotics/pal_msgs.git>> git clone> https://github.com/pal-robotics/pal_gazebo_plugins.git>> catkin_make ****************************************** catkin_make command produced the following error: -- Could not find the required component 'humanoid_nav_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "humanoid_nav_msgs" with any of the following names: humanoid_nav_msgsConfig.cmake humanoid_nav_msgs-config.cmake Add the installation prefix of "humanoid_nav_msgs" to CMAKE_PREFIX_PATH or set "humanoid_nav_msgs_DIR" to a directory containing one of the above files. If "humanoid_nav_msgs" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): pal_msgs/pal_walking_msgs/CMakeLists.txt:4 (find_package) -- Configuring incomplete, errors occurred! See also "/home/christopher/nao_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/christopher/nao_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed ****************************************** My Ubuntu version: 14.04 (Indigo) Can anybody help me further? Many thanks and best regards

Hello, I'm relatively new to MoveIt and ROS. For the past week, I have been trying to configure the 3D sensor (a Kinect) on my robot model to work in MoveIt!, following the tutorial [here](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/perception_configuration.html). Additionally, I created a node to launch the Octomap Server. However, after completing these steps and firing up MoveIt!/Rviz with Gazebo, the Planning Scene doesn't contain any 3D data. I have checked the topics list, and my simulated robot is publishing the correct PointCloud2 data, and the Octomap server is running and publishing correct occupancy maps. What else is needed to get Octomap to publish the data to the Planning Scene? Code: config/sensors_kinect.yaml sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater point_cloud_topic: /kinect/depth/points max_range: 5.0 point_subsample: 1 padding_offset: 0.1 padding_scale: 1.0 filtered_cloud_topic: filtered_cloud launch/sensor_manager.launch.xml

Hi, with my project I'm trying to move the ur10 robot and I've attached a 3-finger gripper at the end-effector. I've already found some documentation on how to move it giving values to the joints, however my goal would be to give a final pose of the end-effector and make it unfold in order to get to that pose. My thought would be of using the inverse kinematics and as you can imagine it's quite complex and I can't find it. I'm trying to simulate the robot in gazebo so I can see it moving, so I would need a way of setting a final pose for the end effector and with this calculate the joints positions or simply make it move to there. I'd appreciate some feedback

Hi I managed to create a file in which I set a end-effector message, in this case, the "wrist_3_link" of the ur10 arm and it solves the IK and the I publish the joint states in order for the robot to move to that position in gazebo. However, I'm having problems with calculating the IK. Sometimes it works, but then sometimes I set one pose and it comes as "solution not found" even though I know that pose exists in the robot workspace. This is how I'm calculating the IK. Don't know if something is wrong. I'm unexperienced with this. end_target.position.x = 0.5; end_target.position.y = 0.5; end_target.position.z = 0.0; end_target.orientation.w = 0.0; Eigen::Affine3d end_effector_state; tf::poseMsgToEigen(end_target, end_effector_state); bool found_ik = kinematic_state->setFromIK(joint_model_group, end_effector_state,"wrist_3_link", 4, 1.0); if (found_ik) { kinematic_state->copyJointGroupPositions(joint_model_group, joint_values); for(std::size_t i=0; i < joint_names.size(); ++i) { ROS_INFO("Joint %s: %f", joint_names[i].c_str(), joint_values[i]); } } else { ROS_INFO("Did not find IK solution"); } And here is my kinematics.yaml file manipulator: kinematics_solver: ur_kinematics/UR10KinematicsPlugin kinematics_solver_search_resolution: 0.005 kinematics_solver_timeout: 0.005 kinematics_solver_attempts: 4

Hi. there are a few topics like this, but none have been the solution for me. How can I solve the problem? I received the error: core service [/rosout] found process[gazebo-1]: started with pid [10988] process[gazebo_gui-2]: started with pid [10992] process[robot_state_publisher-3]: started with pid [10996] process[controller_spawner-4]: started with pid [10997] process[ekf_localization-5]: started with pid [10998] process[cmd_vel_relay-6]: started with pid [11006] process[twist_marker_server-7]: started with pid [11018] process[urdf_spawner-8]: started with pid [11041] [ INFO] [1518293831.796832786]: Finished loading Gazebo ROS API Plugin. [ INFO] [1518293831.797359676]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... spawn_model script started [INFO] [WallTime: 1518293832.208924] [0.000000] Loading model xml from ros parameter [INFO] [WallTime: 1518293832.211190] [0.000000] Waiting for service /gazebo/spawn_urdf_model [INFO] [WallTime: 1518293832.814757] [0.000000] Calling service /gazebo/spawn_urdf_model [INFO] [WallTime: 1518293832.868327] [1517.348000] Spawn status: SpawnModel: Model pushed to spawn queue, but spawn service timed out waiting for model to appear in simulation under the name jackal [ INFO] [1518293833.058730786, 1517.350000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1518293833.058818522, 1517.350000000]: Starting Laser Plugin (ns = /)! [ INFO] [1518293833.060505942, 1517.350000000]: Laser Plugin (ns = /) , set to "" [urdf_spawner-8] process has finished cleanly log file: /home/ubuntu/.ros/log/3b276b74-0e48-11e8-aae6-448a5bed66ea/urdf_spawner-8*.log [ INFO] [1518293833.372714045, 1517.350000000]: Loading gazebo_ros_control plugin [ INFO] [1518293833.372896874, 1517.350000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1518293833.373709958, 1517.350000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ERROR] [1518293833.488939639, 1517.350000000]: This robot has a joint named "$joint_wheel_right_0" which is not in the gazebo model. [FATAL] [1518293833.489250465, 1517.350000000]: Could not initialize robot simulation interface [ INFO] [1518293833.509222307, 1517.369000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1518293833.576598051, 1517.432000000]: Physics dynamic reconfigure ready. jacjal_car.xacro: jackal_macros.xacro: Gazebo/Blacktransmission_interface/SimpleTransmissionVelocityJointInterfaceVelocityJointInterface1 jackal_car.gazebo: falsefalseGazebo/YellowfalseGazebo/GreyfalseGazebo/Greyfalse0 0 0 0 0 0true507201-1.5707961.5707960.330.00.01gaussian0.00.001scanlasertrueimu_linkimu/dataimu_service0.005 0.005 0.0050.005 0.005 0.0050.005 0.005 0.005 0.005 0.005 0.005 0.0050.00550.0//

Hi, I am trying to build a gazebo environment, in which a walking person actor needs to do path planning in the given world. I have two questions: 1. I modified corridor.world and use it as the basic world, with walls around. With the [code example](http://gazebosim.org/tutorials?tut=actor&cat=build_robo), I use the same obstacle handler function. But the actor just goes through the wall. I checked that each wall is a collision model, and the ignore_obstacles in the actor part doesn't include those wall models. I am very confused why the actor doesn't consider wall as an obstacle. 2. What should I do if I want to make the actor do path planning in the given world? I didn't find the api that can get the occupancy map, and here is the world [document](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1World.html). I am fairly new to gazebo and I will appreciate if you can shed some light on this. Thanks in advance.

Hi, In gazebo, there are already available models (insert tab) which you can simple insert in your scene. I am having trouble with using it with my urdf model. I want to add velodyne to my robot. But the problem is that i cannot do this as the model available is in .sdf format. I have tried adding it using this link information http://gazebosim.org/tutorials/?tut=add_laser but NO LUCK. - -- -- I have also tried this approach but i cannot add velodyne using this approach though i have added different sensors using the same underlying concept: http://gazebosim.org/tutorials?tut=ros_gzplugins I am using kinetic.

hi I'm now using the book "ROS in 5 days" to learn the concept of ROS. However, I want to launch the simulation on my own ThinkPad laptop instead of the ROS Development Studio (RDS). I've download the ROS simulation package from the following website - http://www.theconstructsim.com/shop/robots/kobuki - http://www.theconstructsim.com/shop/robots/iri-warm - http://www.theconstructsim.com/shop/robots/bb-8 - http://www.theconstructsim.com/shop/robots/ardrone/ - http://www.theconstructsim.com/shop/robots/sphero/ While catkin_make them, I faced the fowlloing message ---------- fred@fred-ThinkPad-X200s:~/catkin_ws$ catkin_make Base path: /home/fred/catkin_ws Source space: /home/fred/catkin_ws/src Build space: /home/fred/catkin_ws/build Devel space: /home/fred/catkin_ws/develfred@fred-ThinkPad-X200s:~/catkin_ws$ catkin_make Base path: /home/fred/catkin_ws Source space: /home/fred/catkin_ws/src Build space: /home/fred/catkin_ws/build Devel space: /home/fred/catkin_ws/devel Install space: /home/fred/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/fred/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/fred/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/fred/catkin_ws/devel;/opt/ros/kinetic -- This workspace overlays: /home/fred/catkin_ws/devel;/opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/fred/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 15 packages in topological order: -- ~~ - bb_8_description -- ~~ - sphero_description -- ~~ - turtlebot (metapackage) -- ~~ - turtlebot_gazebo -- ~~ - sphero_node -- ~~ - iri_wam_reproduce_trajectory -- ~~ - iri_wam_aff_demo -- ~~ - bb_8_teleop -- ~~ - turtlebot_teleop -- ~~ - bb_8_gazebo -- ~~ - iri_wam_description -- ~~ - iri_wam_gazebo -- ~~ - kobuki_description -- ~~ - sphero_gazebo -- ~~ - turtlebot_description -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'bb_8_description' -- ==> add_subdirectory(bb8/bb_8_description) -- +++ processing catkin package: 'sphero_description' -- ==> add_subdirectory(sphero/sphero/sphero_description) -- +++ processing catkin metapackage: 'turtlebot' -- ==> add_subdirectory(kobuki/kobuki/turtlebot) -- +++ processing catkin package: 'turtlebot_gazebo' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_gazebo) -- +++ processing catkin package: 'sphero_node' -- ==> add_subdirectory(sphero/sphero/sphero_node) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- sphero_node: 1 messages, 0 services -- +++ processing catkin package: 'iri_wam_reproduce_trajectory' -- ==> add_subdirectory(iri_wam/iri_wam_reproduce_trajectory) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.58.0 -- Found the following Boost libraries: -- system -- iri_wam_reproduce_trajectory: 0 messages, 1 services -- +++ processing catkin package: 'iri_wam_aff_demo' -- ==> add_subdirectory(iri_wam/iri_wam_aff_demo) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'bb_8_teleop' -- ==> add_subdirectory(bb8/bb_8_teleop) -- +++ processing catkin package: 'turtlebot_teleop' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_teleop) -- +++ processing catkin package: 'bb_8_gazebo' -- ==> add_subdirectory(bb8/bb_8_gazebo) -- Boost version: 1.58.0 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Boost version: 1.58.0 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) bb8/bb_8_gazebo/CMakeLists.txt:28 (catkin_package) CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'SDF' but neither 'SDF_INCLUDE_DIRS' nor 'SDF_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) bb8/bb_8_gazebo/CMakeLists.txt:28 (catkin_package) -- +++ processing catkin package: 'iri_wam_description' -- ==> add_subdirectory(iri_wam/iri_wam_description) -- +++ processing catkin package: 'iri_wam_gazebo' -- ==> add_subdirectory(iri_wam/iri_wam_gazebo) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'kobuki_description' -- ==> add_subdirectory(kobuki/kobuki/kobuki_description) -- +++ processing catkin package: 'sphero_gazebo' -- ==> add_subdirectory(sphero/sphero/sphero_gazebo) -- Boost version: 1.58.0 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Boost version: 1.58.0 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) sphero/sphero/sphero_gazebo/CMakeLists.txt:106 (catkin_package) CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'SDF' but neither 'SDF_INCLUDE_DIRS' nor 'SDF_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) sphero/sphero/sphero_gazebo/CMakeLists.txt:106 (catkin_package) -- +++ processing catkin package: 'turtlebot_description' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_description) -- Configuring done CMake Warning (dev) at iri_wam/iri_wam_aff_demo/CMakeLists.txt:116 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake --help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning. The dependency target "$(catkin_EXPORTED_TARGETS)" of target "iri_wam_aff_demo_node" does not exist. This warning is for project developers. Use -Wno-dev to suppress it. -- Generating done -- Build files have been written to: /home/fred/catkin_ws/build #### #### Running command: "make -j2 -l2" in "/home/fred/catkin_ws/build" #### [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_nodejs [ 8%] Built target turtlebot_teleop_joy [ 8%] Built target _iri_wam_reproduce_trajectory_generate_messages_check_deps_ExecTraj [ 12%] Linking CXX shared library /home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so [ 12%] Built target iri_wam_description_xacro_generated_to_devel_space_ [ 12%] Built target iri_wam_gazebo_xacro_generated_to_devel_space_ [ 12%] Built target kobuki_description_xacro_generated_to_devel_space_ [ 12%] Built target sphero_gazebo_xacro_generated_to_devel_space_ [ 16%] Linking CXX shared library /home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so /usr/bin/ld: cannot find -lgazebo_ros_utils collect2: error: ld returned 1 exit status bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/build.make:243: recipe for target '/home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so' failed make[2]: *** [/home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so] Error 1 CMakeFiles/Makefile2:3373: recipe for target 'bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/all' failed make[1]: *** [bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /usr/bin/ld: cannot find -lgazebo_ros_utils collect2: error: ld returned 1 exit status sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/build.make:243: recipe for target '/home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so' failed make[2]: *** [/home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so] Error 1 CMakeFiles/Makefile2:4949: recipe for target 'sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/all' failed make[1]: *** [sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j2 -l2" failed Install space: /home/fred/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/fred/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/fred/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/fred/catkin_ws/devel;/opt/ros/kinetic -- This workspace overlays: /home/fred/catkin_ws/devel;/opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/fred/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.8 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 15 packages in topological order: -- ~~ - bb_8_description -- ~~ - sphero_description -- ~~ - turtlebot (metapackage) -- ~~ - turtlebot_gazebo -- ~~ - sphero_node -- ~~ - iri_wam_reproduce_trajectory -- ~~ - iri_wam_aff_demo -- ~~ - bb_8_teleop -- ~~ - turtlebot_teleop -- ~~ - bb_8_gazebo -- ~~ - iri_wam_description -- ~~ - iri_wam_gazebo -- ~~ - kobuki_description -- ~~ - sphero_gazebo -- ~~ - turtlebot_description -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'bb_8_description' -- ==> add_subdirectory(bb8/bb_8_description) -- +++ processing catkin package: 'sphero_description' -- ==> add_subdirectory(sphero/sphero/sphero_description) -- +++ processing catkin metapackage: 'turtlebot' -- ==> add_subdirectory(kobuki/kobuki/turtlebot) -- +++ processing catkin package: 'turtlebot_gazebo' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_gazebo) -- +++ processing catkin package: 'sphero_node' -- ==> add_subdirectory(sphero/sphero/sphero_node) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- sphero_node: 1 messages, 0 services -- +++ processing catkin package: 'iri_wam_reproduce_trajectory' -- ==> add_subdirectory(iri_wam/iri_wam_reproduce_trajectory) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.58.0 -- Found the following Boost libraries: -- system -- iri_wam_reproduce_trajectory: 0 messages, 1 services -- +++ processing catkin package: 'iri_wam_aff_demo' -- ==> add_subdirectory(iri_wam/iri_wam_aff_demo) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'bb_8_teleop' -- ==> add_subdirectory(bb8/bb_8_teleop) -- +++ processing catkin package: 'turtlebot_teleop' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_teleop) -- +++ processing catkin package: 'bb_8_gazebo' -- ==> add_subdirectory(bb8/bb_8_gazebo) -- Boost version: 1.58.0 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Boost version: 1.58.0 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) bb8/bb_8_gazebo/CMakeLists.txt:28 (catkin_package) CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'SDF' but neither 'SDF_INCLUDE_DIRS' nor 'SDF_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) bb8/bb_8_gazebo/CMakeLists.txt:28 (catkin_package) -- +++ processing catkin package: 'iri_wam_description' -- ==> add_subdirectory(iri_wam/iri_wam_description) -- +++ processing catkin package: 'iri_wam_gazebo' -- ==> add_subdirectory(iri_wam/iri_wam_gazebo) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'kobuki_description' -- ==> add_subdirectory(kobuki/kobuki/kobuki_description) -- +++ processing catkin package: 'sphero_gazebo' -- ==> add_subdirectory(sphero/sphero/sphero_gazebo) -- Boost version: 1.58.0 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Boost version: 1.58.0 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor 'gazebo_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) sphero/sphero/sphero_gazebo/CMakeLists.txt:106 (catkin_package) CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'SDF' but neither 'SDF_INCLUDE_DIRS' nor 'SDF_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) sphero/sphero/sphero_gazebo/CMakeLists.txt:106 (catkin_package) -- +++ processing catkin package: 'turtlebot_description' -- ==> add_subdirectory(kobuki/kobuki/turtlebot_description) -- Configuring done CMake Warning (dev) at iri_wam/iri_wam_aff_demo/CMakeLists.txt:116 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake --help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning. The dependency target "$(catkin_EXPORTED_TARGETS)" of target "iri_wam_aff_demo_node" does not exist. This warning is for project developers. Use -Wno-dev to suppress it. -- Generating done -- Build files have been written to: /home/fred/catkin_ws/build #### #### Running command: "make -j2 -l2" in "/home/fred/catkin_ws/build" #### [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target _sphero_node_generate_messages_check_deps_SpheroCollision [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_nodejs [ 8%] Built target turtlebot_teleop_joy [ 8%] Built target _iri_wam_reproduce_trajectory_generate_messages_check_deps_ExecTraj [ 12%] Linking CXX shared library /home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so [ 12%] Built target iri_wam_description_xacro_generated_to_devel_space_ [ 12%] Built target iri_wam_gazebo_xacro_generated_to_devel_space_ [ 12%] Built target kobuki_description_xacro_generated_to_devel_space_ [ 12%] Built target sphero_gazebo_xacro_generated_to_devel_space_ [ 16%] Linking CXX shared library /home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so /usr/bin/ld: cannot find -lgazebo_ros_utils collect2: error: ld returned 1 exit status bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/build.make:243: recipe for target '/home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so' failed make[2]: *** [/home/fred/catkin_ws/devel/lib/libgazebo_bb_8_controller.so] Error 1 CMakeFiles/Makefile2:3373: recipe for target 'bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/all' failed make[1]: *** [bb8/bb_8_gazebo/CMakeFiles/gazebo_bb_8_controller.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /usr/bin/ld: cannot find -lgazebo_ros_utils collect2: error: ld returned 1 exit status sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/build.make:243: recipe for target '/home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so' failed make[2]: *** [/home/fred/catkin_ws/devel/lib/libgazebo_sphero_controller.so] Error 1 CMakeFiles/Makefile2:4949: recipe for target 'sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/all' failed make[1]: *** [sphero/sphero/sphero_gazebo/CMakeFiles/gazebo_sphero_controller.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j2 -l2" failed ---------- i've tried install a lot of gazebo package, but it still not working can any one help?

Hello everyone, I'm using Ubuntu 16.04 (Xenial) and installed ROS Lunar. I also installed gazebo7. Now, I want to install turtlebot and it's impossible. This is what I did: I followed all the tutorials about the installation, but after running this: roslaunch turtlebot_gazebo turtlebot_world.launch I get the following error: RLException: [turtlebot_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 Internet doesn't help. I did everything that says there and nothing works. I also did this: source /opt/ros/indigo/setup.bash before running the other command line. And it doesn't work. What can I do? Maybe my problem is that I have ROS Lunar and I install kinetic packages, but the tutorials are (almost everyone) for indigo. Thanks

Hi, I am trying to run a reinforcement learning simulation and I decided, that I needed a force/torque sensor inside my robot to improve it. When I start the simulation, for the first episode everything runs fine. But after I reset the simulation for the first time, the sensor topic stops publishing and my simulation breaks is this because the simulation doeas something to robot model? I have also camera topics and they publish just fine after the reset. Here is the code of implementation inside the robot:true100.0ft_sensor_topicgripper_dummy_prismatic_joint And here it is how I read it: wrench_data = rospy.wait_for_message('/ft_sensor_topic', WrenchStamped, timeout=10) Here is how the simulation reset is called: self.reset_proxy = rospy.ServiceProxy( '/gazebo/reset_simulation', Empty) ... rospy.wait_for_service('/gazebo/reset_simulation') try: # reset_proxy.call() self.reset_proxy() When I try to call the topic manually after the reset I get following line: rostopic echo /ft_sensor_topic WARNING: no messages received and simulated time is active. Is /clock being published? **EDIT:** I've tried to somehow go around the issue, and run subscriber only when the topic has data. That allowed me to keep the simulation running, but there is a side effect: with each episode, it takes longer for the topic to start publishing data, at first it is around a minute, but when I ran the simulation for a few days it ran through ~150 episodes and now it waits more than an hour for the topic. This is quite troublesome, since I'd like to run the sim for about 10000 episodes.

I recently switched from Ubuntu 17.04 to 17.10 and now after installing ROS, gazebo does not start when I try to start it via ros. I run rosrun gazebo_ros gazebo which returned Segmentation fault (core dumped) /opt/ros/lunar/lib/gazebo_ros/gazebo: 46: kill: invalid signal number or name: SIGINT the output of rosrun gazebo_ros debug (with backtrace) is the following /opt/ros/lunar/lib/gazebo_ros/debug: 5: [: Linux: unexpected operator GNU gdb (Ubuntu 8.0.1-0ubuntu1) 8.0.1 Copyright (C) 2017 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later 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:. Find the GDB manual and other documentation resources online at:. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from gzserver...(no debugging symbols found)...done. [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7fffc9a84700 (LWP 17678)] Thread 1 "gzserver" received signal SIGSEGV, Segmentation fault. 0x00007ffff4378005 in tinyxml2::XMLNode::InsertChildPreamble(tinyxml2::XMLNode*) const () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 (gdb) Quit (gdb) bt #0 0x00007ffff4378005 in tinyxml2::XMLNode::InsertChildPreamble(tinyxml2::XMLNode*) const () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 #1 0x00007ffff4378031 in tinyxml2::XMLNode::InsertEndChild(tinyxml2::XMLNode*) () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 #2 0x00007ffff4379a21 in tinyxml2::XMLNode::ParseDeep(char*, tinyxml2::StrPair*, int*) () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 #3 0x00007ffff437a0cc in tinyxml2::XMLDocument::LoadFile(_IO_FILE*) () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 #4 0x00007ffff437a121 in tinyxml2::XMLDocument::LoadFile(char const*) () from /usr/lib/x86_64-linux-gnu/libtinyxml2.so.5 #5 0x00007fffc859c163 in rospack::Rosstackage::loadManifest(rospack::Stackage*) () from /opt/ros/lunar/lib/librospack.so #6 0x00007fffc85a15e9 in rospack::Rosstackage::addStackage(std::__cxx11::basic_string, std::allocator> const&) () from /opt/ros/lunar/lib/librospack.so #7 0x00007fffc85a5c86 in rospack::Rosstackage::readCache() () from /opt/ros/lunar/lib/librospack.so #8 0x00007fffc85a5d4c in rospack::Rosstackage::crawl(std::vector, std::allocator>, std::allocator, std::allocator>>>, bool) () from /opt/ros/lunar/lib/librospack.so #9 0x00007fffc85b35ac in rospack::rospack_run(int, char**, rospack::Rosstackage&, std::__cxx11::basic_string, std::allocator>&) () from /opt/ros/lunar/lib/librospack.so #10 0x00007fffc85af319 in rospack::ROSPack::run(int, char**) () from /opt/ros/lunar/lib/librospack.so #11 0x00007fffc85af805 in rospack::ROSPack::run(std::__cxx11::basic_string, std::allocator> const&) () from /opt/ros/lunar/lib/librospack.so #12 0x00007fffc8a04d01 in ros::package::command(std::__cxx11::basic_string, std::allocator> const&) () from /opt/ros/lunar/lib/libroslib.so #13 0x00007fffc8a051b1 in ros::package::command(std::__cxx11::basic_string, std::allocator> const&, std::vector, std::allocator>, std::allocator, std::allocator>>>&) () from /opt/ros/lunar/lib/libroslib.so #14 0x00007fffc8a0579d in ?? () from /opt/ros/lunar/lib/libroslib.so #15 0x00007fffc8a064c2 in ros::package::getPlugins(std::__cxx11::basic_string, std::allocator> const&, std::__cxx11::basic_string, std::allocator> const&, std::vector, std::allocator>, std::allocator, std::allocator>>>&, bool) () from /opt/ros/lunar/lib/libroslib.so #16 0x00007fffc8c18042 in gazebo::GazeboRosPathsPlugin::LoadPaths() () from //opt/ros/lunar/lib/libgazebo_ros_paths_plugin.so #17 0x00007fffc8c16f50 in RegisterPlugin () from //opt/ros/lunar/lib/libgazebo_ros_paths_plugin.so #18 0x00007ffff7bc095d in ?? () from /usr/lib/x86_64-linux-gnu/libgazebo.so.7 #19 0x00007ffff7bbff74 in ?? () from /usr/lib/x86_64-linux-gnu/libgazebo.so.7 #20 0x00007ffff7ba5390 in gazebo::Server::ParseArgs(int, char**) () from /usr/lib/x86_64-linux-gnu/libgazebo.so.7 #21 0x000055555555769e in ?? () #22 0x00007ffff6ad01c1 in __libc_start_main (main=0x5555555575b0, argc=5, argv=0x7fffffffdac8, init=, fini=, rtld_fini=, stack_end=0x7fffffffdab8) at ../csu/libc-start.c:308 #23 0x0000555555557c3a in _start () (gdb) gazebo itself runs without any problems when start by typing `gazebo`. What could be the problem here ? To me it looks like malformed XML is the reason.

Hello Guys, Here my Setup: Linux 64 bit Ubuntu 16.04 Ros Kinetic with Gazebo 7.0 I have an environment with a Turtlebot in Gazebo . I want to use Tensorflow to identify objects which the turtlebot sees. Now my question how will i get my data from the Ros topics to Tensorflow? If u need any further Information write me.

Hi all, Currently, I have a floorplan/ real world map I want to recreate in the ros gazebo and then let turtlebot run in that environment. i have creating the .world file using Building Editor but it the turtlebot seem not to be able to go to a specific point when i run my script. Anyone got any ideas?

Is there an example anywhere of how to actually pass a value from a launch file to the xacro files? I found a number of things here and there, but nothing clear as to what you need to do in the launch file and then how to get and use the value in the xacro. I'm just trying to spawn two robots in a single world with a couple different parameters. I'm using kinetic. I've examined these bits of documentation but I can't figure out how to weave them together. I've experimented with enough that it would be clutter to include. http://wiki.ros.org/xacro (5) http://wiki.ros.org/roslaunch/XML#substitution_args http://wiki.ros.org/roslaunch/XML/arg Here is what I have right now. robot.xacro ... ... robot.gazebo ... falsetrue100left_wheel_hingeright_wheel_hinge${chassisWidth+wheelWidth}${2*wheelRadius}20${ctopic}mybot/odom_diffdriveodomfootprint ... robot.launch ... ... Thanks

ROS kinetic, Ubuntu 14.04 I have followed all the steps in the tutorial to create a catkin workspace and a package, and when i run `rospack find my_package` i get the location to `my_package`. However, when I launch my project i get the error [rospack] "Package [] does not have a path". Also, i can load the same urdf into rviz without a problem. Here is a snippet from the code: 1000.010.010.010.0Gazebo/Red

Hi, i tried to setup a custom robot by using the tutorials and explanations on urdf, xacro and gazebo. After several hours of finetuning gazebo started and the robort was shown :) But the robot seems to be in the air (a few cm)(not standing on the ground plane) and any command is without any reaction. Tried RQT Gui or teleop to send commands. nothing happens. Not sure whats wrong. In rviz robot seems to be on the ground. (and parallel to the ground - in gazebo not) ## xacro definition of robot: Gazebo/WhiteGazebo/BlackGazebo/Blacktransmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface10Gazebo/Black>transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface10 ## Gazebo include /hallrovertruefalse100.0body_to_roller_leftbody_to_roller_right${roller_length+hallrover_body_width}${roller_diam}20cmd_velodomodomfootprint0 0 0 0 0 0false407201-1.5707961.5707960.1030.00.01gaussian0.00.01/hallrover/laser/scanhokuyo_link ## launch file

Hi, created a differential drive robot with a ball caster. Tried to set mu1 and mu2 values of the wheels to values >1 and <1 for the caster. But the robot stands still and the wheels are slipping. Sometimes it moves slowly around the caster. You may find the xacro files here: [Robot definition](https://www.dropbox.com/sh/k0mro6vlnamvbrp/AAA28A8s9sUmx3ab2eH0SRnda?dl=0) Thanks for your help and any ideas. Marco Update: Added content of xacro files: hallrover_v2.xacro Gazebo/WhiteGazebo/WhiteGazebo/White hallrover_rollers_v2.xacro -------------------------- Gazebo/BlackGazebo/BlackGazebo/Black makros.xacro ------------ hallrover_v2.gazebo ------------------- /truefalse100.0body_to_roller_leftbody_to_roller_right${roller_body_space*2+hallrover_body_width}${roller_diam}20cmd_velodomodombase_footprint1.811 launch file - hallrover_v2_gazebo.launch ----------------------------------------

Does anybody know of a way to initialize the PR2 posture in gazebo to something specific? Currently the robot is initialized with the two hands pointing to the front and I move the arms and the head of the robot, but this is quite slow in simulation, and this will be repeated many times automatically. Any suggestions about how to save the robot position? If I save the gazebo world, do you think I will be able to re-summon the PR2?