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2015-11-20 02:02:50 -0500 commented answer URDF from a working ROS package not shown

updated the answer, I am not sure if you have been notified...

2015-11-19 02:22:45 -0500 answered a question URDF from a working ROS package not shown


you might need something like this in your package xml to ensure that gazebo finds model path

     <gazebo_ros plugin_path="${prefix}/lib"

I once had some problems with missing intertias for link that caused some problems. One last thing that might be missing are transmissions.

I don't have the time to look at the complete URDF so all of this are just guesses

Old answer:

Your launch file has -sdf instead of -urdf in the arguments. Please let me know if this does not solve your problem...

2015-11-18 00:58:09 -0500 received badge  Nice Answer (source)
2015-11-11 06:16:44 -0500 answered a question gazebo bumper plugin wont give me any data ?

Does the gz topic contain contacts for the Frame you specified?

The plugin only effects the links you specify

BTW. your URDF part seems broken (contains multiple incomplete lines...)

2015-10-31 12:30:28 -0500 marked best answer Robot-Plugin is Loaded again when spawning another Robot


I recognized that every time I spawn more than one robot using gazebo_ros_pkgs the Plugins of the already spawned robots are reloaded (load is called again...). Is this supposed to happen, or am I doing something wrong?

For a very small test I reduced my current launch file to this: https://gist.github.com/anonymous/610...

And start it with:

roslaunch my_bot_gazebo test.launch robot_name:=test1 robot_namespace:=test1 x:=10

roslaunch my_bot_gazebo test.launch robot_name:=test2 robot_namespace:=test2 x:=-10

I'm working with Gazebo1.9.5/ROS-Groovy

2015-10-31 12:13:12 -0500 marked best answer installing gazebo_ros_pkgs for groovy


today i tried to reinstall gazebo and gazebo_ros_pkgs following the current instructions. Gazebo compiles and runs without any problems. but when i tried to compile gazebo_ros_pkgs I ran into a couple of problems.

1st missing shared objects in the precompiled ubuntu package

when I called catkin_make to compile the gazebo_ros_pkgs there where at least one missing .so file:

/usr/bin/ld: cannot find -lgazebo_sdf_interface

so i tried compiling from src witch leaded to other problems

2nd rosdep installs gazebo-prerelease

the command rosdep install --from-paths src --ignore-src --rosdistro groovy -y installs

gazebo-prerelease and sdformat debian packages.

this should probably not happen... but can be easily undone, with apt-get remove...

3rd when I try to run catkin_make I get an error about redefinition of classes.

In file included from /usr/local/include/gazebo-1.9/gazebo/sdf/interface/SDF.hh:25:0, from /usr/local/include/gazebo-1.9/gazebo/sdf/sdf.hh:21, from /usr/local/include/gazebo-1.9/gazebo/physics/State.hh:26, from /usr/local/include/gazebo-1.9/gazebo/physics/ModelState.hh:30, from /usr/local/include/gazebo-1.9/gazebo/physics/Model.hh:31, from /usr/local/include/gazebo-1.9/gazebo/physics/Actor.hh:24, from /usr/local/include/gazebo-1.9/gazebo/physics/physics.hh:2, from $HOME/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h:37, from $HOME/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_block_laser.cpp:26: /usr/local/include/gazebo-1.9/gazebo/sdf/interface/Param.hh:50:9: error: redefinition of ‘class sdf::Param’ /usr/include/sdf-1.4/sdf/Param.hh:52:9: error: previous definition of ‘class sdf::Param’

currently I don't know how to fix this problems. I would be happy if some one could point me in the right direction...



2015-10-31 12:12:59 -0500 marked best answer Setting position on heightmap creates offset between collision and visual


when I set a position in my sdf for my heightmap I get an offset between collision and visual for the map as shown in the snapshot below. If I move the objects around I can see that the collision of the map has an offset. I'm able to move the objects into the mountains etc. All objects are affected by this not only the ones in the example snapshot. When I set the y position in the collision and visual to 0 the offset is gone. This error is a new behaviour that wasn't there 2 month ago(I haven't changed anything on the sdf files since july) so this is probably a bug... I'm not sure when this behaviour first occured because I haven't worked with an heightmap for quite a while...

I'm working with ubuntu precise and gazebo 1.9.1 from the osrf repository(not from source)

Snapshot of the BUG:

image description

Here is the SDF for the heightmap:

<?xml version='1.0'?>
<sdf version='1.4'>
<model name="my_map">
  <link name="link">
    <collision name="collision">
          <size>1500 1500 450</size>
          <pos>0 -35 -71</pos>
    <visual name="visual">
          <size>1500 1500 450</size>
          <pos>0 -35 -71</pos>

2015-10-21 05:11:40 -0500 answered a question Sensors colliding with collision box

Have you tried changing the minimum Range values of the sensor and/or the plugin?

2015-10-21 05:06:39 -0500 answered a question Texture in a .stl file

The STL format does not support textures or UV coordinates ...

you should export as DAE (Collada) instead of STL

2015-10-20 04:10:59 -0500 answered a question launch a .stl file in gazezbo

You should create a model for that...

You should have a llok at the buiild a robot tutorial series:


If you just want to visualize it this might be the tutorial that answers your question:


It contains a simple World file that you can use...

2015-09-16 02:17:04 -0500 commented question Multi-robot controller-manager for different robot_descripion?

can you try adding -robot_namespace robot_1 to the args of your spawn_model call?(I am not sure if that helps)

2015-09-15 02:06:47 -0500 commented answer Multi-robot controller-manager for different robot_descripion?

It might be helpful to show the complete launchfile... Where is the parameter robot_description on the paramterer server?

2015-09-14 02:22:41 -0500 answered a question Get realtimefactor through plugin (programmatically)

I don't know if there is a method to just receive it but:

the realtime factor is just deltaSimTime / deltaTealTime (averaged over a second or a few millis...)

creating such a plugin should be easy...

2015-09-14 02:16:27 -0500 answered a question Multi-robot controller-manager for different robot_descripion?

In my multi-robot environment I use groups/Namespaces to avoid such problems

This means all nodes,params,topics and services of the robot are started in <robotname>/<node-or-param-name>.

In this way you can easily distinguish between the different robots...

try putting a

<group ns="<namespace-name>">
... everything you would like to launch for one robot instance...

But beware you will also have to take care of the TF-prefixes for somenodes if your robots have identical link names(which is the case for most robots...)

2015-09-14 02:00:03 -0500 commented question How to eliminate a black screen while launching gazebo

that's the default open source nvidia driver under ubuntu. If you haven't changed it you might have to install the proprietary nvidia driver... It might also be the case that you have to use bumblebee to start GAZEBO (in case you have a hybrid card...)
you can also look at the ~/.gazebo/Ogre.log because there might be information about your problem...

2015-09-09 03:02:36 -0500 commented question How to eliminate a black screen while launching gazebo

In addion to the questions above. is this isue related to a specific world or all worlds? What Geforce card do you have? Do you use the noveau or the proprietary NVIDIA-Driver?

2015-09-08 01:54:38 -0500 commented answer installing gazbo_ros package

The hector_quadrotor_gazebo package has a set of launch files which you can use. If you need to specify a position you can with the provided command line args...

2015-09-07 08:49:01 -0500 commented answer installing gazbo_ros package

I use this packages and it should work(I'm using gazebo5 at the moment..). you will have to compile them form source(Put them into your catkin workspace) But I don't see any reasons for them not to run...

2015-09-07 05:47:25 -0500 commented question Good place to share a utility library?

Public git servers like GitHub or Bitbucket are always good places to share your open-source Project

2015-09-07 05:43:53 -0500 commented answer installing gazbo_ros package

I never tried it, sorry... You might want to ask this in as new question if you need to know.

2015-09-07 02:25:08 -0500 answered a question installing gazbo_ros package

If you want to use ros indigo with a gazebo version!=2.2 you should not install the meta package ros-indigo-desktop-full(I prefer ros-indigo-desktop instead). Otherwise removing gazebo2.2 will remove most of your ros installation. You will although need to install third Party packages from source instead of via apt...

If you want to use multiple versions in parallel; installing one version of ros in user space and only loading it on demand might be the way to go. But changing this might have side effects on ros packages. So you should always make sure to link against the right installation...

2015-09-07 02:13:44 -0500 answered a question gazebo without ros + urdf file


you can just load an urdf as normal model. You just have to load an URDF instead of SDF. But loading URDFs can be tricky from time to time so you should use an SDF when you can.

Here is an example model.config:

<?xml version="1.0"?>

    <name>Your Name</name>

    Small description of the model 

Have a look at this tutorial series if you do not know how to set up a robot


for your first question a model plugin is the right way to go...

2015-08-05 07:06:06 -0500 commented question How to schedule forces at specific times?

you can use gazebos internal msgs instead of ros...

2015-08-05 07:02:31 -0500 answered a question Can you animate a joint without it having any effect in the physics world?

you have 2 possible solutions:

  1. You can write a system plugin for that and just update the visual using ogre directly(client side plugin).
  2. Or you use an animated ogre material on the visual which is rotating... (Ogre Rotate texture Material ref )


it might possible to specify no collision for the link, but I think that it still influences the sim speed(because there are still forces applied to the links...)

2015-08-05 06:39:13 -0500 commented question Planar move plugin make the manipulator's motion slow

does the plugin change your realtime factor? Are there any forces working against the Plugin? (like the wheels)

2015-08-05 06:28:45 -0500 answered a question SpawnModel: Failure - model name already exist

It seems like you use ros to start your robot in this case you need to specify the model_name of the robot in the model field of the service.

if you use the hector_quadrotor you can specify the name in your launch file($(arg name) in the example:)

<include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch">
  <arg name="name" default="$(arg name)"/>
  <arg name="model" value="$(arg model)"/>
  <arg name="use_ground_truth_for_tf" value="true"/>
  <arg name="use_ground_truth_for_control" value="true"/>

  <arg name="use_pose_estimation" value="false"/>

   <arg name="tf_prefix" default="$(arg tf_prefix)"/>
   <arg name="x" default="$(arg x)"/>
   <arg name="y" default="$(arg y)"/>
   <arg name="z" default="$(arg z)"/>
2015-08-05 06:19:38 -0500 answered a question Why can I access Ogre ONLY in the SystemPlugin?

The server itself does not need Ogre. Ogre is only used on client side for rendering(cause that is what OGRE does). All other components run in another application(gzserver instead of gzclient) so it is not possible to access the renderer from there.

2015-07-03 08:04:18 -0500 commented question Setting Goal Position with Gazebo

I tried nearly the same thing some days ago but for me it seems to steal the Gazebo mouseClick events which makes the 3D viewport unusable is this effect the same for you??

2015-06-10 02:45:48 -0500 commented answer Using_A_URDF_In_Gazebo: package:// URIs not described

${prefix} is always the path of the package.xml itself/

2015-06-10 02:43:20 -0500 commented answer Blue Skies in Gazebo 1.9

Hi, the URL moved... sdf specification can now be found under www.sdformat.org I updated the url...

2015-06-10 02:40:57 -0500 edited answer Blue Skies in Gazebo 1.9


your is not the problem. The sky is just optional and has to be enabled explicitly.

gazebo world files can contain a scene/sky block like:


This enables SkyX...(taken from empty_sky.world example) have a look at the corresponding SDF regions for more information sdf1.5 sky

2014-11-18 09:50:44 -0500 received badge  Nice Answer (source)
2014-10-13 11:03:58 -0500 commented answer how to use tf_broadcaster.cpp in gazebo ?

Hi the tutorial you are using is used for gazebo 1.3 not gazebo3. It was allready deprecated when groovy was released and it might be a bad idea to you it. But I'm not sure how good the new versions work with groovy. Are you forced to use groovy? I guess it is hard to get support for most of the groovy packages...

2014-10-13 03:18:09 -0500 answered a question how to use tf_broadcaster.cpp in gazebo ?


what do you want to do? are you just planning to publish the complete TF tree? if yes you can just use the gazebo_ros_control plugin and a robot_state_publisher...

which version of gazebo/ros are you using? If you are using Hydro or newer you should use one of the newer tutorials(linked in the top of the page...). The usage of TF is explained in the ROS wiki TF tutorials

btw rosbuild_add_executable is quite old and should only work with rosmake. Newer ROS packages are most often created with catkin...

In general a gazebo plugin should not be an executable it should be a library.

2014-10-02 02:14:39 -0500 commented question Still problems with gazebo_ros and Urdf spawn

Is there a reason you install gazebo2 from source? Isn't it part of hydro-desktop-full? can you post the corresponding errors? have you looked at the log files in the ~/.gazebo/ dir

2014-08-20 05:13:04 -0500 answered a question Teleop in Gazebo through ROS

Most of the teleop apps in ROS just send geometry_msgs/Twist messages. This means a message containing a a rotation and a translation vector. On gazebo side you can implement a plugin(or use one of the existing ones) to react on that message. There seems to be a convention to use the topic name vel_cmd for this purpose.

For examples look at the movement plugins here(skid_steering, planar_move etc...):


It should be possible to use one of the existing teleop scripts to control the robot(for example from turtlesim or pr2)

2014-08-14 05:05:58 -0500 answered a question Publishing JointStates in ROS with Gazebo


I am not absolute sure about this but I think this plugin requires an URDF to work correctly. the gazebo_ros_control plugin will block until it gets the urdf from the server( method getURDF from gazebo_ros_control_plugin.cpp )

I guess this causes your problems...

2014-08-14 03:24:33 -0500 commented question Communication between robots in gazebo

If you are using ROS why don't you use the ROS message system to communicate?

2014-08-13 03:27:04 -0500 answered a question Publishing JointStates in ROS with Gazebo

spawning models with the spawn_model script does not directly start plugins to publish `joint_states

Is there a gazebo_ros_control plugin in your sdf(urdf)

if not you might want to have a look at this tutorial:


2014-08-12 08:38:53 -0500 answered a question which server version (64-bit) of ubuntu will be suitable (for Gazebo and Ros Simulation)?

This depends on which ros version you want to use

For Hydro you should use Precise(12.04)

For Indigo you should use Trusty(14.04)

in general hydro runs with 12.04, 12.10 and 13.04 and and Indigo with everything above but the support for the none LTS version runs out very quickly...

2014-07-30 06:06:46 -0500 commented question Gazebo Ros Spawn Baxter.urdf Error (rospack)

can you move to the directory by typing roscd baxter_description? It looks like this package is not installed correctly...

2014-07-23 03:27:43 -0500 answered a question Connecting a PR2 in Gazebo with MoveIt


I am not very experienced with MoveIt and PR2 so I can just hope this information is correct. is the demo.launch file working??

You seem to have multiple problems so maybe more than this answer is needed.

For rviz:

look at your tf-tree (after you started the robot in gazebo) and look for the root.(you can use rosrun rqt_gui rqt_gui or rosrun tf view_frames && evince frames.pdf to visualize it) It might be that there is no transformation of your robot to a global reference frame so it might be something like base_footprint. If you do not receive any TF data make sure you start a robotstatepublisher in your launch file.

after you found the root-node use this in rviz.

For the the controller(if there is a problem):

make sure that there is a controller listening for the joint_trajectories you specified in the controller.yaml

In general the steps should be the same for a simulated and a real robot...

btw the newer moveit tutorials are here: http://moveit.ros.org/documentation/tutorials/