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How to control robots models?

asked 2013-07-18 07:06:54 -0500

Arn-O gravatar image

Hello.

Sorry if there is an obvious answer to this question, but I did not find it after a very long search.

I would like to know how to control the robots models which are packed with Gazebo. That's easy to add them into the world, and I did not find how to go further.

I have read the tutorial of course. It looks like I have to modify the robot description to add some plugins. That makes sense for defining a new robot, but for using a model, it seems complicated.

If you could give me hint, that would be appreciated.

Thanks a lot.

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I noticed that none of the robots in the library have src with them. I was looking for some working example but I am still looking. I am using ROS with the included gazebo 1.5 - I am trying to write a plugin currently and found a depreciated example: https://code.google.com/p/utexas-art-ros-pkg/source/browse/#svn%2Fbranches%2Fprojects%2Fstacks%2Fart_experimental

FiliusFortunae gravatar imageFiliusFortunae ( 2013-07-18 14:11:58 -0500 )edit

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answered 2013-07-25 07:06:21 -0500

Arn-O gravatar image

Hi.

To close the issue, they are several way to do that:

  • develop a "Gazebo plugin", which is a C++ calling Gazebo API (answer from iche033). The robot models do not need to be modified.
  • use ROS and gazeborospkgs, in this case the URDF or SDF model should be adapted, w. <gazebo> tags and so on, as described in the gazebo-ROS tutorial
  • player and do not know how the model should be modified

Thx all again.

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answered 2013-07-19 07:30:09 -0500

If you are using ROS you might want to look how the Control is done for the PR2, Hector or other robots. You can find the sources for them in the ROS-WIKI.

You should also think about using the new gazebo version(1.9) because their are some new plugins for that version. You could than simply use a control_plugin and ros topics to control your robot. You should take a look at the 1.9 tutorials for that!

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Re: "You should also think about using the new gazebo version(1.9)". That's not released yet.

John Nagle gravatar imageJohn Nagle ( 2013-07-22 18:12:16 -0500 )edit

Re: "You should also think about using the new gazebo version(1.9)". That's not released yet.

John Nagle gravatar imageJohn Nagle ( 2013-07-22 18:12:27 -0500 )edit

Re: "You should also think about using the new gazebo version(1.9)". That's not released yet.

John Nagle gravatar imageJohn Nagle ( 2013-07-22 18:12:37 -0500 )edit

@John Nagle Yeah I should have mentioned that but the prerelease seems to run very good. ;)

evilBiber gravatar imageevilBiber ( 2013-07-23 01:48:15 -0500 )edit
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answered 2013-07-18 19:39:16 -0500

iche033 gravatar image

There are existing plugins in gazebo/plugins dir. An example robot that makes use of it is pioneer2dx. You can download it from the model database through the insert tab on the left. If you look at the downloaded sdf file, ~/.gazebo/models/pioneer2dx/model.sdf, it uses the differential drive plugin provided by Gazebo.

Alternatively, you can control the robot through the joint control widget which you have to drag out through the bar on the right of the gazebo window

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Hi, I am using ROS hydro, gazebo 1.9 and the corresponding gazebo_ros package. Me too, I could not find out how to control a robot. I did what you suggested and I can see a plugin tag in the model.sdf but there is not /cmd_vel topic in ROS. Btw, the model of the 2dx does not move when I set the velocity in the right bar of gazebo.

Sabrina gravatar imageSabrina ( 2013-07-22 16:46:36 -0500 )edit
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Asked: 2013-07-18 07:06:54 -0500

Seen: 3,415 times

Last updated: Jul 25 '13