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basic questions & joint velocity

asked 2014-01-27 16:38:23 -0600

pawel gravatar image

updated 2014-01-28 03:07:15 -0600

Hi! I spent last month struggling with Ubuntu, ROS, Gazebo etc. an I'm still having some questions totally obvious for you, but can save me lot of time. What I need to do is a 2-wheel mobile platform using Hokuyo laser to build his map. I'd appreciate if anyone tell me the easiest way to do it. I tried using ros_control but got some problems with the packge. Now I'm trying to build one gazebo model plugin subscribing to Hokuyo's topic and managing joint velocity. Still, I don't know:

  1. How could it then orientate in space to build a map. Is Gazebo providing something like the global coordinates frame or current position of a robot?

  2. In a plugin, I've thought of using a joint object in the way like here:

namespace gazebo { class SetJoints : public ModelPlugin { public: SetJoints() : ModelPlugin() {
}

public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
  {
                                //left_wheel_hinge is my name for the joint in model.sdf file
 this->leftJoint = physics::Base.getByName("left_wheel_hinge");
  }

public: void OnUpdate(const common::UpdateInfo & _info)
{
leftJoint->setVelocity(1,1)
}
private: physics::Joint *leftJoint;

}; GZREGISTERMODEL_PLUGIN(SetJoints) }

Code does not work because of getByName function. Is there any way to use joint object in the plugin? Thanks for any help

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Please update the title of your question to something more concrete to get more attention.

ffurrer gravatar imageffurrer ( 2014-01-27 18:31:11 -0600 )edit

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answered 2014-01-28 07:10:49 -0600

pawel gravatar image

Answering my 2nd question, here is a set of help links: http://answers.gazebosim.org/question/5226/setting-joint-velocity-from-a-plugin/ http://gazebosim.org/wiki/Tutorials/1.3/controlrobot/mobilebase_laser

Still, is it possible to orientate in 2D space using just gazebo?

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Asked: 2014-01-27 16:38:23 -0600

Seen: 723 times

Last updated: Jan 28 '14