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2019-03-14 08:37:49 -0500 commented question Gazebo performance for very large point clouds

you could filter your pointcloud first http://pointclouds.org/documentation/tutorials/voxel_grid.php and then try to con

2019-03-02 05:10:17 -0500 commented question Run Gazebo headless on AWS and render locally with the gzclient

That is what I ended up doing, works really nice :D

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2019-02-28 09:22:53 -0500 commented answer How many vertices can Gazebo (ODE) handle?

yes using the same file for visual and collision. I am thinking about writing a macro to generate a bowl using a cylindr

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2019-02-26 16:16:59 -0500 edited question Run Gazebo headless on AWS and render locally with the gzclient

Run Gazebo headless on AWS and render locally with the gzclient I installed gazebo on an AWS instance to run faster simu

2019-02-26 16:15:41 -0500 edited question Run Gazebo headless on AWS and render locally with the gzclient

Run Gazebo headless on AWS and render locally with the gzclient I installed gazebo on an AWS instance to run faster simu

2019-02-26 16:11:39 -0500 asked a question Run Gazebo headless on AWS and render locally with the gzclient

Run Gazebo headless on AWS and render locally with the gzclient I installed gazebo on an AWS instance to run faster simu

2019-02-25 14:04:09 -0500 commented answer How many vertices can Gazebo (ODE) handle?

The geometry of the collision part has been set correctly. If I replace the mesh of the bowl by a cylinder defined direc

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2019-02-11 14:59:39 -0500 edited question How many vertices can Gazebo (ODE) handle?

How many vertices can Gazebo (ODE) handle? I have been trying to load a mesh in gazebo (Meshlab shows it has some 1.5 mi

2019-02-11 14:57:53 -0500 asked a question How many vertices can Gazebo (ODE) handle?

How many vertices can Gazebo (ODE) handle? I have been trying to load a mesh in gazebo (Meshlab shows it has some 1.5 mi

2019-01-29 04:34:37 -0500 marked best answer Create joint dynamically with ROS

I have a contact sensor on my vacuum gripper. Once the gripper touches whatever I want to grip, I tried applying a force on the bottom of the object so that it gets pushed against the gripper. This method is not very stable and I would like to consider spawning a joint dynamically and deleting it when I am done moving the object. I am using ROS to command everything in Gazebo. What I was trying is to create plugins that create and delete a joint (Gripper-Object joint has always the same name in my case as I am always moving the same object).

This is what I tried (but doesn't compile)

I changed the content of the class to create a fixed joint as shown in an answer on this forum. How should this be done?

I have two models in my world, "mypackage" containing the link "simplebox" and another model containing the link "gripper_rot" and I want to create a joint between those two joints.

#include <sdf/sdf.hh>
#include "gazebo/gazebo.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/transport.hh"

/// \example examples/plugins/world_edit.cc
/// This example creates a WorldPlugin, initializes the Transport system by
/// creating a new Node, and publishes messages to alter gravity.
namespace gazebo
{
  class WorldEdit : public WorldPlugin
  {
    public: void Load(physics::WorldPtr _parent, sdf::ElementPtr _sdf)
    {
      physics::JointPtr joint;

      joint = this->world->GetPhysicsEngine()->CreateJoint("fixed", "my_package");

      joint->Load("simple_box", "gripper_rot", math::Pose());

      joint->Attach("simple_box", "gripper_rot");

      joint->SetAxis(0, axis_ex);

      joint->SetHighStop(0, high_stop_ex);
      joint->SetParam("cfm", 0, cfm_ex);
    }
  };

  // Register this plugin with the simulator
  GZ_REGISTER_WORLD_PLUGIN(WorldEdit);
}
2019-01-29 04:34:20 -0500 answered a question Create joint dynamically with ROS

I stumbled upon a plugin that works. Had to to some changes to make it compatible with the nes API of Gazebo, it can be

2019-01-29 04:33:27 -0500 commented question Create joint dynamically with ROS

I guess you don't need it anymore but I posted an answer to this question

2019-01-29 04:28:50 -0500 commented question http://gazebosim.org not working

you can also make sure it is not ISP related by using this website https://www.isitdownrightnow.com/gazebosim.org.html

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2018-11-29 15:33:05 -0500 marked best answer Collision and collada meshes

I am using .dae meshes for my robot and it seems that when I define the collision tag using that mesh, objects can just go through and no collision is simulated. Why is that? example of my urdf

<link name="disk${index}">
  <visual>
    <geometry>
      <mesh filename="package://maru_simulation/meshes/disk.dae"/>
    </geometry>
    <origin xyz="0 0 -0.01" rpy="0 0 0"/>
  </visual>
<inertial>
  <mass value="0.01" />
  <inertia ixx="1.0" ixy="0.0" ixz="0.0"
  iyy="1.0" iyz="0.0"
  izz="1.0" />
</inertial>
  <collision>
    <geometry>
      <mesh filename="package://maru_simulation/meshes/disk.dae"/>
    </geometry>
    <origin xyz="0 0 -0.01" rpy="0 0 0"/>
  </collision>
</link>
2018-11-29 15:32:50 -0500 answered a question Collision and collada meshes

I figured out that models loaded from urdf's have by default "self collide" set to false so any joint from that model wo

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2016-10-26 02:57:16 -0500 marked best answer Mouse control buttons

Is there a way to change the view control with the mouse so that it is similar to Rviz? Having the scroll and the left button functions switched between both softwares is very confusing.

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2016-03-30 04:33:49 -0500 asked a question Robot base slowly drifting

After spawning my robot and without sending any Twist commands, I noticed that it slowly drifts. I checked the /gazebo/model_states topic and noticed that the twist of my base is not zero

linear: 
  x: 0.000147341651406
  y: 1.44766752077e-05
  z: 9.3220339335e-09
angular: 
  x: 7.15641334542e-09
  y: 1.36163145416e-08
  z: 0.000712493893403

Those are small values but integrated over a long time tend to make my robot change position. This is a big problem because I am working with laser scans and doing line detection iterated many times, which leads to line coefficients changing a lot in few seconds. I tried changing the friction of the wheels but it doesn't seem to help. How can I force the robot to stand still?

I am using a differential drive defined as follows:

  toru2_diff_drive_controller:
    type        : "diff_drive_controller/DiffDriveController"
    left_wheel  : 'toru2_left_axle'
    right_wheel : 'toru2_right_axle'
    publish_rate: 50.0               # default: 50
    pose_covariance_diagonal : [0.0001, 0.000001, 1000000.0,
1000000.0, 1000000.0, 0.0005]
    twist_covariance_diagonal: [0.0001, 0.000001, 1000000.0,
1000000.0, 1000000.0, 0.0005]

    # Wheel separation and diameter. These are both optional.
    # diff_drive_controller will attempt to read either one or both from the
    # URDF if not specified as a parameter
    wheel_separation : 0.512
    wheel_radius : 0.09
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2015-10-31 12:30:49 -0500 marked best answer Force base_link to stay at 0

My robot has a disc with a radius of 1.25m in contact with the ground. Apparently this is not handled very well by the simulator and the robots drifts slowly with time. How to force base_link to stay at zero position? Is there a way to define as static a link only and not the whole robot?

I am using URDF and world frame doesn't seem to be usable there as parent frame.

2015-10-31 12:30:48 -0500 marked best answer Very weird behaviour destroys my robot and makes it fly around

I generated an sdf from a urdf for robot (urdf fully functional while using the real robot) Can somebody give me some hints about what might be the cause of this weird behaviour?

If you need to understand what the robot exactly is you can watch this video

2015-10-31 12:30:20 -0500 marked best answer How to control Gazebo from a C++ code

In this question there is a cpp code that creates a joint in Gazebo. How does this cpp code even know how to connect to Gazebo server? and what should be included? What does a code look like that can connect to the Gazebo server and do some modifications?

I couldn't find any tutorial about the Gazebo Cpp API.