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Where's my ball? Display issue.

asked 2016-06-10 05:40:32 -0500

PerceptualRobots gravatar image

I have managed to add a static ball and table to the baxter world. Ubuntu 14.04 gazebo 2.2

However, it is not appearing right in the baxter camera.

Here is how it looks in gazebo.

image description

But taking the camera view half of it is missing.

image description

Any suggestions on a resolution and what I am missing?

Here's my world.

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <physics type="ode">
      <real_time_update_rate>1000.0</real_time_update_rate>
      <gravity>
    0.0 0.0 -9.81
      </gravity>
    </physics>

    <model name='unit_sphere_1'>
      <pose>2 -0.554543 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.025</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.025</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Green</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <static>0</static>
    </model>
<model name='table'>
      <static>1</static>
      <link name='link'>
        <collision name='surface'>
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.8 0.03</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.6</mu>
                <mu2>0.6</mu2>
              </ode>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual1'>
          <pose>0 0 1 0 -0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.8 0.03</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Wood</name>
            </script>
          </material>
        </visual>
        <collision name='front_left_leg'>
          <pose>0.68 0.38 0.5 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.02</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='front_left_leg'>
          <pose>0.68 0.38 0.5 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.02</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name='front_right_leg'>
          <pose>0.68 -0.38 0.5 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.02</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <visual name='front_right_leg'>
          <pose>0.68 -0.38 0.5 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.02</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <collision name='back_right_leg'>
          <pose>-0.68 -0.38 0.5 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.02</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction ...
(more)
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1 Answer

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answered 2016-06-10 10:06:40 -0500

This looks like a bug. Maybe it's a good idea to upgrade your version of Gazebo. I just tried it on Gazebo 7 and it shows up properly.

Note that Gazebo 2 has reached its end of life in January 2016, so it shouldn't be getting any bug fixes.

image description

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Thanks, but baxter is only supported on v2.2 as I understand it. I'll check with them if I can upgrade.

PerceptualRobots gravatar imagePerceptualRobots ( 2016-06-10 11:15:02 -0500 )edit

Btw, would you post the code for your example, I'd like to try it out on a secondary machine where I can upgrade gazebo?

PerceptualRobots gravatar imagePerceptualRobots ( 2016-06-12 06:22:51 -0500 )edit

Oh I just opened your world and inserted a camera from the left panel's Insert tab.

chapulina gravatar imagechapulina ( 2016-06-12 14:02:39 -0500 )edit

Just tried that but it just falls to the floor, how do you keep it in mid-air? If I can do that with the ball I won't need the table.

PerceptualRobots gravatar imagePerceptualRobots ( 2016-06-13 15:02:37 -0500 )edit

You can make it static if you don't want any forces to be applied on it. add `<static>true</static>` to the model.

chapulina gravatar imagechapulina ( 2016-06-13 15:13:47 -0500 )edit
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Asked: 2016-06-10 05:40:32 -0500

Seen: 271 times

Last updated: Jun 10 '16