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Enrico Mingo's profile - activity

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2015-10-31 12:30:17 -0500 marked best answer Why Inertias are represented as parallelepiped in GAZEBO 2.1.0

As title, what is the meaning of that parallelepipeds? Should not they be allipsoid?

2015-10-31 12:12:27 -0500 marked best answer ros_controllers problems

Hi, I am writing a description of my robot combining xacros, gazebos and yamls files. I have some troubles with my controllers and sensors.

About sensors: I am tring to add an IMU in my robot. I have a link "imulink" in my xacro and a fixed joint "imujoint" between imu_link and another link in my robot. Now, in my robot.gazebo file I have the following:

< gazebo > < plugin name="imu_sensor_controller" filename="libgazebo_ros_imu.so" > < bodyName >imu_link< /bodyName > < always_on >1< /always_on > < !-- update_rate >1000.0< /update_rate -- > < robotNamespace >/COMAN< /robotNamespace > < topicName >coman_imu< /topicName > < /plugin > < /gazebo >

and in my robot_control.yaml I have:

imu_sensor_controller: type: imu_sensor_controller/ImuSensorController publish_rate: 50

In the launch file for the controller I use the controllermanager spawner to spawn the imusensor_controller. When I launch it I have the following error from GAZEBO:

[ERROR] [1380671129.134196839]: This controller requires a hardware interface of type 'hardware_interface::ImuSensorInterface'. Make sure this is registered in the hardware_interface::RobotHW class.

I think I have to put this in my transmission.urdf.xacro but I do not well know where is he syntax for the imu hardware interface. Do you have some suggestion? Maybe I am wronging something?

Thank you for your help.

Enrico

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2015-04-09 15:23:46 -0500 answered a question Using MultiSenseSLPlugin.cpp with a robot that is not Atlas

Thank you!

2015-04-09 03:31:42 -0500 commented question Using MultiSenseSLPlugin.cpp with a robot that is not Atlas

Hi, I don't get the answer: should be done as in line 86 where the robot name is taken no?

2015-04-08 11:20:58 -0500 asked a question Using MultiSenseSLPlugin.cpp with a robot that is not Atlas

Hi, we bought the multisense for our robot and we have added in our urdf. When we try to load the robot in gazebo we have problem with the spindle link that is not found. Looking inside the code we find out that the atlas name is hardcoded: line 93 in MultiSenseSLPlugin.cpp. Basically even simulating only the multisense is possible only if the robot name is atlas is it? If yes is possible to make that the robot name is taken from the simulation instead of hardcoded?

Thanks

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2015-03-02 10:55:39 -0500 asked a question libgazebo_ros_api_plugin.so question

Basically I am trying to use some plugins that needs: launching gazebo from gazebo_ros package. Is not possible to include the plugin inside the sdf of the robot?

2015-03-02 10:32:21 -0500 answered a question Can't find model database when roslaunch'd, but can find it when Gazebo is run by itself.

Hi, I am experiencing the same issue. I have updated GAZEBOMODELPATH and GAZEBOPLUGINSPATH with my other folders. When I launch gazebo itself I saw my models, launching the roslaunch version not. I am using Gazebo 5.0.

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2015-01-13 03:39:55 -0500 commented answer spring_reference and spring_stiffness tags in joint

So the spring is modelled as active stiffness and damping and not like an underactuated system?

2015-01-10 09:37:37 -0500 asked a question spring_reference and spring_stiffness tags in joint

Hi all, I have noticed these two new tags inside the joint tags...are them supported using Gazebo 4.0 and ODE? Best,

Enrico

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2014-12-15 04:32:22 -0500 asked a question Elastic Joints Simulation

Hi, is there a "standard" way to simulate elastic joints in Gazebo?

2014-12-11 11:18:27 -0500 asked a question Using DART in Gazebo4.0 installed from ros-indigo-gazebo4-ros

Hi, I have installed Gazebo 4.0 from ros-indigo-gazebo4-ros deb. There is a way to have DART available since I have read from documentation that to have DART a from source installation of Gazebo is needed.

Best,

Enrico

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2014-09-30 18:38:56 -0500 marked best answer gzsdf problem INstalling GAZEBO 4 under ROS Indigo

Hi all, I have just realize that after installing gazebo4 under ros indigo with the package (that I don't remember the name) I can not call anymore gzsdf in the terminal. Is it not anymore available?

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