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2013-08-16 02:33:34 -0500 commented question Service call failed when defining erratic robot for gazebo 1.9

@nkoenig thanks. i have updated the question

2013-08-15 15:26:05 -0500 asked a question Service call failed when defining erratic robot for gazebo 1.9

Hi all,

I changed the urdf of erratic robot to make it compatible with gazebo 1.9. But now when i try to spawn the robot inside empty world it gave me following error (last lines of gazebo terminal).

[ INFO] [1376596917.648008574, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1376596917.767362832, 0.135000000]: Physics dynamic reconfigure ready.
Warning [parser.cc:353] No <sdf> element in file[data-string]
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::bad_lexical_cast> >'
  what():  bad lexical cast: source type value could not be interpreted as target
Aborted (core dumped)

Any ideas on it? (p.s I am using ROS groovy with standalone gazebo 1.9 on ubuntu 12.04).

Thanks in advance. Edit 1: Here is how my urdf looks like. it is generated from xacro using xacro.py

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /opt/ros/groovy/stacks/erratic_robot/erratic_description/urdf/erratic.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="erratic" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Included URDF Files -->
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="Grey2">
    <color rgba="0.9 0.9 0.9 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <link name="base_footprint">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="Green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.128"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.063 0 0.128"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <inertial>
      <mass value="20"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://erratic_description/meshes/collada/erratic_base_link.dae"/>
      </geometry>
      <material name="Blue"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://erratic_description/meshes/collada/erratic_base_link.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_caster_support_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.188 0 -0.043"/>
    <parent link="base_link"/>
    <child link="base_caster_support_link"/>
    <axis xyz="0 0 1"/>
    <anchor xyz="0.01 0 0"/>
    <!-- doubts in it may ...
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2013-08-15 11:16:54 -0500 commented answer Spawning Erratic robot in Gazebo 1.9 with ROS groovy

@_ArnO_ Thanks. After spawning the robot how am i suppose to teleoperate it?

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2013-08-06 09:26:04 -0500 commented answer Spawning Erratic robot in Gazebo 1.9 with ROS groovy

Are you able to spawn the robot after these changes? If yes can you share the converted files?

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2013-07-30 13:23:05 -0500 asked a question Spawning Erratic robot in Gazebo 1.9 with ROS groovy

Hi, I am trying to spawn erratic robot in Gazebo 1.9 using following launch file.

<launch>
<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find erratic_description)/urdf/erratic.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model erratic" />
</launch>

It works perfect for PR2 robot but in the case of erratic it does not spawn the robot. Any suggestions? Thanks. Here is the output of the launch file. Running PR2 in same way also generates alot of errors in terminal but manage to spawn it.In this tutorial they explicitly says that

Note: at this writing there are still a lot of errors and warnings from the console output that need to be fixed from the PR2's URDF due to Gazebo API changes.

Warning [parser.cc:353] No <sdf> element in file[data-string]
Error [parser.cc:694] XML Element[controller:diffdrive_plugin], child of element[model] not defined in SDF. Ignoring.[model]
Error [parser.cc:685] Error reading element <model>
Error [parser.cc:345] Unable to read element <sdf>
Error [parser.cc:296] parse as old deprecated model file failed.
Error [World.cc:1469] Unable to read sdf string
<!--This document was autogenerated by xacro from /opt/ros/groovy/stacks/erratic_robot/erratic_description/urdf/erratic.urdf.xacro | -->
<!--EDITING THIS FILE BY HAND IS NOT RECOMMENDED========== -->
<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
     xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" name="erratic">

<!-- Included URDF Files -->
<material name="Black"><color rgba="0.0 0.0 0.0 1.0" /></material>
<material name="Blue"><color rgba="0.0 0.0 0.8 1.0" /></material>
<material name="Green"><color rgba="0.0 0.8 0.0 1.0" /></material>
<material name="Grey"><color rgba="0.7 0.7 0.7 1.0" /></material>
<material name="Grey2"><color rgba="0.9 0.9 0.9 1.0" /></material>
<material name="Red"><color rgba="0.8 0.0 0.0 1.0" /></material>
<material name="White"><color rgba="1.0 1.0 1.0 1.0" /></material>
<link name="base_footprint">
<inertial><mass value="0.0001" /><origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" /></inertial>
<visual><origin rpy="0 0 0" xyz="0 0 0" /><geometry><box size="0.001 0.001 0.001" /></geometry>
<material name="Green" /></visual><collision><origin rpy="0 0 0" xyz="0 0 0.128" /><geometry>
<box size="0.001 0.001 0.001" /></geometry></collision></link>
<joint name="base_footprint_joint" type="fixed"><origin rpy="0 0 0" xyz="0.063 0 0.128" />
<parent link="base_footprint" /><child link="base_link" /></joint>
<link name="base_link"><inertial><mass value="20" /><origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /></inertial>
<visual ...
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2013-07-26 00:50:02 -0500 commented answer Smoke simulation in simulator_gazebo

Thanks Andrei, I am using Simulatorgazebo in ROS electric under ubuntu 10.04 and i am unable to compile it using the method in this tutorial. http://www.ros.org/wiki/simulatorgazebo/Tutorials/GazeboPluginIntro Any suggestions please? When i compile the example in the given tutorial it does not recognize gazebo headers files and other classes. Thanks

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2013-07-19 22:32:37 -0500 answered a question Building Robot with Sensor and Controller using Gazebo and ROS

You can use already built robots for this purpose for example one in this tutorial.

Follow the tutorial leaving the navigation part once done you can see Via rostopic list command that it gives you the distance information and odometry data. For designing your own robot try this tutorial and on wards.

2013-07-19 17:25:01 -0500 commented question Smoke simulation in simulator_gazebo

Thanks alot. That is very impressive work in video. So hopefully my last question what could be the smart way to spawn multiple spheres which are static not moving? no need of simulation and plugins. I can make an assumption that smoke is uniformly distributed at specific place in environment and is not evaporating any more? and i can experiment with increasing or decreasing the density of these spheres and check the laser range behaviour.

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2013-07-19 09:24:12 -0500 commented question Smoke simulation in simulator_gazebo

@Andrei No visualization is less important in my case. I want something which reacts to Laser Range sensor and when density is decrease or increase difference could be seen in Laser readings. So visualization is not important even a set of particles just floating will do the trick without any smoke like look. question is how to simulate it? Thanks

2013-07-18 22:00:37 -0500 asked a question Smoke simulation in simulator_gazebo

Hi all,

I am making an smoke animation in blender 2.5 using its particle system. Currently i am using ros electric on ubuntu 10.04 and simulator_gazebo stack.

My ist question is whether it is possible to import that animation correctly in simulatorgazebo? if not then migrating to gazeborospkgs with Hydro or Groovy will help me to achieve this objective?
Second, Is there any other good approach to achieve this functionality for example simulating particles inside simulator
gazebo without using any other models(.dae, .stl) etc?
Last, I will prefer some solution sticking to same distro of ros but can migrate too.
Thanks alot.

(P.S detailed answer will be appreciated since my conceptual grasp on the topic is very less and limited)