The site is read-only. Please transition to use Robotics Stack Exchange
 | 1 | initial version |
As evilBiber said, the problem likely isn't in your model file, but rather that you must run gazebo as a ROS node for plugin integration to work. For example, given the world file below:
<?xml version="1.0" ?>
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
</model>
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='pioneer2dx'>
<link name='chassis'>
<pose>0 0 0.16 0 -0 0</pose>
<inertial>
<mass>5.67</mass>
<inertia>
<ixx>0.07</ixx>
<iyy>0.08</iyy>
<izz>0.1</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<collision name='castor_collision'>
<pose>-0.2 0 -0.12 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<slip1>1</slip1>
<slip2>1</slip2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose>0 0 0.04 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://pioneer2dx/meshes/chassis.dae</uri>
</mesh>
</geometry>
</visual>
<visual name='castor_visual'>
<pose>-0.2 0 -0.12 0 -0 0</pose>
<geometry>
<sphere>
<radius>0.04</radius>
</sphere>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='right_wheel'>
<pose>0.1 -0.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.009</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>100000</mu>
<mu2>100000</mu2>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<link name='left_wheel'>
<pose>0.1 0.17 0.11 0 1.5707 1.5707</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.0051</ixx>
<iyy>0.0051</iyy>
<izz>0.009</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>100000</mu>
<mu2>100000</mu2>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.11</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/FlatBlack</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<joint name='left_wheel_hinge' type='revolute'>
<pose>0 0 -0.03 0 -0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
</axis>
</joint>
<joint name='right_wheel_hinge' type='revolute'>
<pose>0 0 0.03 0 -0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
</axis>
</joint>
<plugin name='differential_drive_controller' filename='libgazebo_ros_diff_drive.so'>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.39</wheelSeparation>
<wheelDiameter>0.15</wheelDiameter>
<torque>5</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>chassis</robotBaseFrame>
</plugin>
<pose>0 0 0 0 -0 0</pose>
<static>0</static>
</model>
<state world_name='default'>
<sim_time>85 304000000</sim_time>
<real_time>85 849190220</real_time>
<wall_time>1432260579 736436496</wall_time>
<model name='ground_plane'>
<pose>0 0 0 0 -0 0</pose>
<link name='link'>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='pioneer2dx'>
<pose>-0.103826 0.027961 2e-06 -2e-06 -8e-06 -0.094162</pose>
<link name='chassis'>
<pose>-0.103827 0.027961 0.160002 -2e-06 -8e-06 -0.094162</pose>
<velocity>-0.000797 0.002229 0.003363 -0.024657 -0.007301 0.0023</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='left_wheel'>
<pose>0.011714 0.187806 0.110002 1.38258 1.57033 2.85912</pose>
<velocity>-0.000816 0.001565 0.000275 -0.014307 -0.006987 0.002012</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
<link name='right_wheel'>
<pose>-0.020254 -0.150688 0.110002 -1.56886 1.51434 -0.092322</pose>
<velocity>-0.000347 0.001559 0.008433 -0.014387 -0.003243 0.000126</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
</camera>
</gui>
</world>
</sdf>
Save it somewhere in your local filesystem as pioneer2dx_ros.world. Then open a terminal window and start the ROS middleware by entering:
roscore
Open another terminal window, cd to the folder containing the pioneer2dx_ros.world and enter:
rosrun gazebo_ros gazebo -file pioneer2dx_ros.world
You should now have a Gazebo window opened with a Pioneer 2DX placed in the middle of an empty world.
Finally, open a third terminal window (it's the last one, I promise) and check if the differential drive topics have been published:
rostopic list
The following topics should be visible, among others:
/pioneer2dx/cmd_vel
/pioneer2dx/odom
You should now be able to get the robot moving by publishing messages to the /pioneer2dx/cmd_vel topic, e.g.
rostopic pub -1 /pioneer2dx/cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.0}}'
Should get the robot running in a loop.
Copyright Askbot, 2010-2011. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.