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2018-10-31 17:55:08 -0600 edited question how to get joint torque values in N.m

how to get joint torque values in N.m Hi all, I am trying to get the current torque/effort values of my revolute joints

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2018-10-29 00:36:10 -0600 asked a question how to get joint torque values in N.m

how to get joint torque values in N.m Hi all, I am trying to get the current torque/effort values of my revolute joints

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2016-11-14 14:36:52 -0600 asked a question Problem executing many trajectories with PR2

Hello,

I have a set of actions as Robot Trajectories. I execute each trajectory for a PR2 robot in gazebo, but the problem is that sometimes one of the trajectories doesn't finish and the next one starts. I use usleep(2000000) to wait 2 seconds between trajectory, which should be more than enought, do you have any idea about what is happening?

It is something like this:

trajectory open gripper to grasp object close gripper trajectory open gripper close gripper .... and so on, but sometimes one of the trajectories is not finished, I call it with services, so it should wait until the response.

2016-07-18 12:06:16 -0600 asked a question Create a PRM from a Gazebo world

Hello,

I have a Gazebo world, just with walls, and a simple robot with sdf. I would like to create a PRM (probabilistic roadmap) of my environment, without using any camera to map the environment. Is there any way to do this directly? I know OMPL does, but, how can I validate states and edges of the PRM just having a gazebo world? My question is: there is something out of the box which I can use?

Thank you very much

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2016-02-01 06:34:33 -0600 commented answer How to accelerate a simulated robot and get the same result as when I use real time factor?

I am going to try that! Thank you

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2016-01-29 08:12:16 -0600 commented answer How to accelerate a simulated robot and get the same result as when I use real time factor?

Hi dcconner, Yes, If I publish my updates (move, stop) faster when the simulation real time factor is accelerated (greater to one), I compensate it. But, I supposed there is a way to move the robot at 1 m/s during 1 second, but, with everything going faster in the simulation, lets say, 10 times faster. So the simulated robot will take 0.1 seconds to move 1 meter. But yes, the problem is that I am using wall time after each publish: move... sleep(1 second) stop and so on...

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2016-01-26 12:42:13 -0600 asked a question How to accelerate a simulated robot and get the same result as when I use real time factor?

Hi all,

I have a robot (any body), which I can control through a Twist message. Let's say I put the robot in position (0,0) with world as reference. From my code, I publish a topic which makes the robot moves at 1 m/s during 1 second, like:

rostopic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

So, after a second I publish another topic like:

rostopic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}',

to stop the robot. This is successful and the robot moves 1 meter forward (to position 1,0).

The problem is that the robot must move a lot of times to cover an area (thousand of movements). So I want to accelerate the simulation with the physics include (to check collisions). But, if I modify the real time factor to 0, to be as faster as possible, of course the robot moves faster but the same published messages will make the robot moves further than (1,0). So the result of Twist messages will be different.

I would like to know if there is a way to accelerate the simulation, in an independent way of the commands I send: So if I have, let's say, 100 messages published to make the robot moves forward, the robot will delay 100 seconds to move 100 meters. With these same messages parameters, I would like to know If I can accelerate the simulation to shorter times.

PD: I decreased the time for which I stop the robot. So I can have a movement of 100 m/s during 0.01 seconds. But the same as before happens. If I modify the real time factor, the robot moves really faster (which is what I want), but with different result as if I use the real time factor set to normal time. Instead of moves 100 m, it moves 120/130 or different things.

I really appreciate your help

Thank you

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2015-01-17 10:52:36 -0600 asked a question Get occupied positions by a model

Hi everybody!

I have created a simple model in gazebo that it is just a rectangle or a simple polygon (like a L shape...). I am using gazebo with ROS Indigo, so I can get the model state through ros service /gazebo/getmodelstate, where I obtain the pose and orientation. The pose is reflected by the center of mass of my model.

So, here is my question:

If I rotate my model , is tehre any way to obtain in Gazebo the positions that my model is occupying? I mean, not only the center of mass, but the coordinates occupied by the model.

Thank you very much for your help