Home | Tutorials | Wiki | Issues
Ask Your Question
0

link corresponding to plugin not part of robot model

asked 2014-08-28 13:21:57 -0600

phil0stine gravatar image

updated 2014-08-28 13:23:31 -0600

I am able to run the multi robot scenario example from the gazebo_plugins ROS pkg (indigo-devel branch) without a problem.

However, in the gui, there is no Model Link corresponding to the camera sensor as I would expect. All other links are shown, just not the plugin link. The camera sensor link is published correctly in ROS.

Looking at the camera.xacro, the pattern (link tags followed by gazebo tags with the same name) seems to be the same as for those links which do show as part of the robot model.

Anything I'm missing?

<link name="${name}">
  <inertial>
    <mass value="1e-5" />
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
  </inertial>
  <visual>
    <origin xyz="0 0 0" rpy="0 1.57 0"/>
    <geometry>
      <cylinder radius="0.03" length="0.1"/>
    </geometry>
    <material name="grey"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="0 1.57 0"/>
    <geometry>
      <cylinder radius="0.03" length="0.1"/>
    </geometry>
  </collision>
</link>
<gazebo reference="${name}">
  <material value="Gazebo/Grey"/>
</gazebo>
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2014-08-28 13:42:39 -0600

nkoenig gravatar image

Links that are connected via fixed joints are combined when URDF is converted to SDF. This could cause the camera link to disappear in simulation.

edit flag offensive delete link more

Comments

Ok, so assuming I need to get that transform (say, world to camera), do you have a suggested approach? One might be to make the joint not fixed but it seems like there could/should be a better way.

phil0stine gravatar imagephil0stine ( 2014-08-28 15:02:12 -0600 )edit

I think the sensor will have a pose tag that you can use to get the sensor transform.

scpeters gravatar imagescpeters ( 2014-09-02 16:17:14 -0600 )edit
Login/Signup to Answer

Question Tools

Stats

Asked: 2014-08-28 13:21:57 -0600

Seen: 107 times

Last updated: Aug 28 '14