Issue with plugin setup

Hi all, I am new in Gazebo at all. I am studying a lot to understund the environment and actually I have a problem that from my point of view is really huge, but probably it's not.

Actually I have to work without ROS and I have to use, for my simulations, the drcvehicle from osrfdrcsim. I can load the model in gazebo environment but when I try to rotate the steer or the wheels or when I push the gas joint the vehicle doesn't move at all. I also have built the plugin and modified the sdf to link the right .so file. I guess i have done everything but actually I cannot see any results.

Somone could help me? Do you need other details about my issue ?

Thanks a lot in advance, Savaresef

Asked by savaresef on 2016-05-29 08:52:48 UTC

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Answers

I don't know anything specific to the drc_vehicle, but here are some basic debugging techniques, and a short checklist:

make sure gazebo isn't paused
click on the model, and use the "joint" panel on the right to check that the model moves the way you expect when a force is applied
use the gz tool to check messages. Your plugins probably use messages in some way, so something like gz topic -e /my/topic/name might help you see what's wrong. You can also use the topic visualizer in the GUI if you want
run gazebo with --verbose so you can see any error or warning messages being printed. They might be useful, especially if it's an issue finding the .so file.
run it all in gdb! Debuggers are pretty useful. Try setting a breakpoint in the ::Update() function of your plugin

Asked by Peter Mitrano on 2016-05-29 15:12:16 UTC

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Hello Peter, thanks a lot for your answer. Using the verbose option I catched the error but I cannot solve the issue. I googled the error message but there are just very old pages that don't solve the problems.

These are the messages I see: [Err] [DRCVehiclePlugin.cc:465] EXCEPTION: could not find FNR switch joint [Err] [Model.cc:1010] Exception occured in the Load function of plugin with name[vehicle] and filename[libDRCVehiclePlugin.so]. This plugin will not run. [Err] [MudPlugin.cc:139] Unable to GetSensor, ignoring contact_surface_bitmask

Any hint?

Thanks

Asked by savaresef on 2016-05-30 03:26:02 UTC

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This really should be a comment to my answer. Anyways, it seems like you have the wrong model for the polaris. Some joints and sensors seem not to match. I'd look at the source code for DRCVehiclePlugin and find out what joints and sensors it is looking for.

Asked by Peter Mitrano on 2016-05-31 14:32:06 UTC

I am trying to solve all problems I have with this plugin. As soon I have novelties I will update the thread and eventually I will marked as solved.

Thanks a lot.

Asked by savaresef on 2016-06-08 07:50:53 UTC