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2015-04-14 08:00:48 -0500 commented answer What is wrong with my Contact Sensor Code?

@ffurrer, did you try to change the maximum number of contacts?

2015-04-14 07:55:48 -0500 commented answer change Maximum number of contacts , max_contacts, allowed between two entities gazebo ros

Hi! Did not work. <maxContacts>100 </maxContacts> or <maxcontacts>100</maxcontacts> in urdf under collision or physics or gazebo tag. Thanks for helping.

2015-04-06 05:15:46 -0500 asked a question change Maximum number of contacts , max_contacts, allowed between two entities gazebo ros

Calling service

rosservice call /gazebo/set_physics_properties

and setting max_contacts to 100 does not work.

After calling service

rosservice call /gazebo/get_physics_properties

the max_contacts is still 20.

Calling rosparam set /gazebo/max_contacts 100 does not work.

How can I overwrite the max_contacts parameter?

2015-04-02 06:49:58 -0500 commented question Multiple robots with multiple robot_descriptions and ros controllers?

@Lucas Did you solve the problem? I am launching Gazebo Shadow robot arm-hand first and then rrbot (from here http://gazebosim.org/tutorials/?tut=roscontrol). And I can not launch these robots in one launch file. When I lunch them separately, it seems that /robotdescription is overwritten by the second robot.

2015-03-23 09:10:28 -0500 answered a question Contact positions wrt world frame

Here is an answer from http://answers.ros.org/question/20539... "Put your contact into a geometrymsgs/PointStamped and set the frameid to world, then use tf transformPoint to transform the point into the link frame."

One comment is that the /tf should be publishing data at sufficient rate. Use rostopic hz /tf to see the rate. Gazebo publishes link states at 1kHz by default. But using tf methods simplifies transformations.

2015-03-20 07:19:34 -0500 asked a question Contact positions wrt world frame

I am getting positions of contacts using gazebo bumper states. The positions are given in world frame coordinates, when it should be in link frame coordinates. I use ROS Indigo and Gazebo version that is suggested in the instructions by default (Gazebo 1.9).

Is it a bug and it is solved in a newer version of Gazebo?