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2019-04-04 17:14:10 -0500 commented answer Delta Robot simulation using Gazebo

And in the case you defined the joint in the gazebo tag, can you still control the joints from ROS?

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2018-07-24 09:21:05 -0500 commented question ┬┐How can I improve the performance of my SDF Model that is slipering and vibrating?

For your first problem, you can try to increase the iters value http://gazebosim.org/tutorials?tut=preset_manager&ca

2018-07-05 04:38:00 -0500 commented question Gazebo7 and ROS kinetic on MacBook Air(2017)

Are you using Linux or macOS?

2018-07-05 04:37:37 -0500 commented question Gazebo7 and ROS kinetic on MacBook Air(2017)

Are you using linux or macOS?

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2017-10-16 03:57:13 -0500 marked best answer spawn world after gzserver start

Hello,

I would like to know if it's possible to spawn a world (sdf .world file) once gazebo is launched. I tried to use the service /gazebo/spawn_sdf_model but I got this error: GazeboRosApiPlugin SpawnModel Failure: input xml format not recognized (I was loading the default willowgarage.world).

Did someone has already succed to spawn a world after gzserver startup?

thanks

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2017-10-13 12:10:00 -0500 asked a question spawn world after gzserver start

spawn world after gzserver start Hello, I would like to know if it's possible to spawn a world (sdf .world file) once g

2017-08-31 03:08:34 -0500 answered a question about a diff drive mobile robot in gazebo

Hi, For the diff drive robot controllable from ROS you can follow this tutorial -> http://www.generationrobots.com/

2017-06-05 03:13:44 -0500 commented answer The best way of having my model in gazebo

In your rosrun cmd, you are searching for a file called MYROBOT.urdf in a urdf/ directory in the MYROBOT_description pac

2017-06-02 08:05:52 -0500 edited answer The best way of having my model in gazebo

Hello, For this method I recommend you to define frame coordinate in SW. Export meshes respecting theses coordinates f

2017-06-02 07:40:23 -0500 commented answer The best way of having my model in gazebo

actually the third method do not come from any tutorial, I decided to do that to make my own simulation faster. To brin

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2017-06-01 09:57:38 -0500 edited answer The best way of having my model in gazebo

Hello, For this method I recommend you to define frame coordinate in SW. Export meshes respecting theses coordinates f

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2017-06-01 09:55:46 -0500 edited answer The best way of having my model in gazebo

Hello, For this method I recommend you to define frame coordinate in SW. Export meshes respecting theses coordinates f

2017-06-01 09:54:12 -0500 answered a question The best way of having my model in gazebo

Hello, For this method I recommend you to define frame coordinate in SW. Export meshes respecting theses coordinates f

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2017-01-16 09:34:03 -0500 asked a question Bullet with gazebo_ros_control

Hello everyone,

I have a working model of my robot (controled with ros) simulated with gazebo with ODE as physic engine. I tried with Bullet and the gazebo_ros_control doesn't seems to work. Gazebo print this message :

[Dbg] [BulletJoint.cc:549] Not implement in Bullet

The setParam function is not implemented and seems to prevent the controller to work.

Did someone has already tried to run gazebo_ros_control with bullet?

I am using gazebo7 and ros-indigo

Thx

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2017-01-02 10:11:14 -0500 commented question IMU sensor plugin libgazebo_ros_imu.so: strange data

Same issue here with the same urdf under ros-indigo and gazebo7.

2016-10-24 11:42:06 -0500 answered a question Contact and gazebo_ros_controller issue

I fixed my issue, but I don't really know why. I replace in the transmision flag of the pillow_front and pillow_back (in urdf) that was PositionJointInterface by a VelocityJointInterface. By replacing this interface, the extension of the robot stopped making the robot moving forward. In the control.yaml I used a velocity_controllers/JointPositionController as controller so It doesn't change anything from a user point of view.

Why adding a transmission on a joint A interact on the stability of a joint B. And why using a velocity transmission instead of a position transmission solved this interaction. This will probably be the topic of an other question.

2016-10-24 11:18:14 -0500 commented question URDF Error No valid hardware interface element found in joint

Using only one file is not 'modular' but if you just need something to work as soon as possible use this. If you are still interrested in using your URDF and gazebo_ros_controller please see -> http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/ I found that it was a pretty complete tutorial

2016-10-22 17:04:46 -0500 commented answer Contact and gazebo_ros_controller issue

So I tested with the joint/PID panel, and didn't even success to keep my robot not moving. I tried many PID coefficent but didn't succes to do anything.

2016-10-17 04:45:37 -0500 commented answer Contact and gazebo_ros_controller issue

I haven't tested your suggestion yet. I have noticed that if I comment the <transmission> for pillow_back and pillow_front everything work well, except that I loose 2 transmissions. Any idea about that?

2016-10-14 04:32:16 -0500 commented question URDF Error No valid hardware interface element found in joint

Your config file seems correct. have you : <gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotnamespace>/robot_gazebo</robotnamespace> </plugin> </gazebo> in your urdf? you really need to specify the hardwareinterface twice in the <transmission>. One time for the <joint> and one time for the <actuator>

2016-10-07 10:28:59 -0500 commented answer Contact and gazebo_ros_controller issue

I use velocity_controllers/JointVelocityController so I am not setting a PID (it is supposed to be perfect, I think). And when I set the velocity thanks to the right panel with a PID it doesn't seems to work.

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2016-10-06 04:58:25 -0500 commented answer Contact and gazebo_ros_controller issue

So I tried several value of damping, from 0 to 2147483647. From 0 to ~2000 the wheels continue there rotation, and from 3000 to 2147483647, the robot explode. About the control even if I control the speed to 0, wheels are rotation (during the extend). If I set a velocity_controllers/JointPositionController the wheels can maintain the zero position. Should I avoid JointVelocityController ? However JointVelocityController seems more convinient to control a propulsion wheel.

2016-10-04 13:29:05 -0500 commented answer Contact and gazebo_ros_controller issue

Actually, the robot should extend (split himself). The problem is that when we extend (extend.py) the robot should extend (the second part) but the front wheels should keep the zero velocity (and on the simulation the wheels are rotating, <- that's the issue).

2016-10-04 06:17:02 -0500 commented answer Contact and gazebo_ros_controller issue

Thank you for your answer. Very weird that you can't reproduce the first issue. I pulled the last version of the code and tried again this morning and the issue was still there. Actually, I would like to have the zero drift behavior but at iteration=50. I thought that it's maybe not possible because of the heavy weight of the robot.

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2016-09-29 10:39:08 -0500 asked a question Contact and gazebo_ros_controller issue

Dear Gazebo community

We are a company working on an industrial application of mobile robot. We decided to work with ROS and we are trying to use Gazebo to develop, test and validate algorithms.

We decided to publish a basic version of our robot in order to share it with the community. https://github.com/Stanley-Robotics/P...

The robot urdf is here: https://github.com/Stanley-Robotics/P...

With our robot model we face several issues in gazebo:

  • The velocity controller seems to pain to maintain the 0 command when we extend the robot (python script/extend.py) (https://youtu.be/KRg-boKyuiw)
  • The robot slide even with huge mu1, mu2 if we set the iteration in gazebo to 50 (the default one) (https://youtu.be/L3Zn2PzAb_o)
  • The 4 rear casters of our robot are not touching the ground all the time (https://youtu.be/zbRtseEv3Ss)
  • The simulation speed is slow (we would like to have 50 time real time, but we are locked to 2-3 times)

What do you think ? Do you have any advice that could help us about our issues ?

In order to run our simulation please use Gazebo7

git clone https://github.com/Stanley-Robotics/P... roslaunch basic_robot_pkg gazebo_empty_world.launch roslaunch basic_robot_pkg basic_simulation.launch python forward.py/extend.py/rotate.py

Thanks

2016-09-29 10:28:35 -0500 commented question URDF Error No valid hardware interface element found in joint

Try <transmission name="${lr}_front_trans"> <type>transmission_interface/SimpleTransmission</type> <joint name="${lr}_front_wheel_hinge"> <hardwareinterface>EffortJointInterface</hardwareinterface> /> <actuator name="${lr}_front_Motor"> <hardwareinterface>EffortJointInterface</hardwareinterface> <mechanicalreduction>10</mechanicalreduction> </actuator> </transmission> Could you give the config file for your gazebo ros controller?