Tutorial Intermediate: Velodyne, not spinning. Just Gazebo, no ros

asked 2019-03-15 22:47:09 -0600

zebago gravatar image
  1. Should there be any indication of spin?

    1. Should the Force tab values reset to 0.0 anytime you click away?
    2. Is there starting and ending code for these tutorials? I could solve my issue with that...
  2. Unrelated, but really I must know.. are there plans to implement an undo button or load function to compliment the saveas function? I see that someone asked about the undo button a couple of years ago and was told it was implemented for gazebo8, but I am running gazebo9 so maybe that isn't available anymore?

From: http://gazebosim.org/tutorials?cat=gu...

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">

    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>


<model name="velodyne_hdl-32">
  <!-- Give the base link a unique name -->
  <link name="base">

    <!-- Offset the base by half the lenght of the cylinder -->
    <pose>0 0 0.029335 0 0 0</pose>


  <inertial>
      <mass>1.2</mass>
      <inertia>
        <ixx>0.001087473</ixx>
        <iyy>0.001087473</iyy>
        <izz>0.001092437</izz>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyz>0</iyz>
      </inertia>
    </inertial>


    <collision name="base_collision">
      <geometry>
        <cylinder>
          <!-- Radius and length provided by Velodyne -->
          <radius>.04267</radius>
          <length>.05867</length>
        </cylinder>
      </geometry>
    </collision>

    <!-- The visual is mostly a copy of the collision -->
    <visual name="base_visual">
      <geometry>
        <cylinder>
          <radius>.04267</radius>
          <length>.05867</length>
        </cylinder>
      </geometry>
    </visual>
  </link>

  <!-- Give the base link a unique name -->
  <link name="top">

    <!-- Vertically offset the top cylinder by the length of the bottom
        cylinder and half the length of this cylinder. -->
    <pose>0 0 0.095455 0 0 0</pose>
 <inertial>
     <mass>0.1</mass>
     <inertia>
       <ixx>0.000090623</ixx>
       <iyy>0.000090623</iyy>
       <izz>0.000091036</izz>
       <ixy>0</ixy>
       <ixz>0</ixz>
       <iyz>0</iyz>
     </inertia>
   </inertial>

    <collision name="top_collision">
      <geometry>
        <cylinder>
          <!-- Radius and length provided by Velodyne -->
          <radius>0.04267</radius>
          <length>0.07357</length>
        </cylinder>
      </geometry>
    </collision>

    <!-- The visual is mostly a copy of the collision -->
    <visual name="top_visual">
      <geometry>
        <cylinder>
          <radius>0.04267</radius>
          <length>0.07357</length>
        </cylinder>
      </geometry>
    </visual>
  </link>








<!-- Each joint must have a unique name -->
<joint type="revolute" name="joint">

  <!-- Position the joint at the bottom of the top link -->
  <pose>0 0 -0.036785 0 0 0</pose>

  <!-- Use the base link as the parent of the joint -->
  <parent>base</parent>

  <!-- Use the top link as the child of the joint -->
  <child>top</child>

  <!-- The axis defines the joint's degree of freedom -->
  <axis>

    <!-- Revolve around the z-axis -->
    <xyz>0 0 1</xyz>

    <!-- Limit refers to the range of motion of the joint -->
    <limit>

      <!-- Use a very large number to indicate a continuous revolution -->
      <lower>-10000000000000000</lower>
      <upper>10000000000000000</upper>
    </limit>
  </axis>
</joint>

</model>

  </world>
</sdf>

Version. Newest, installed with ROS, Ubuntu 18.04 lts:

$ gazebo --version
Gazebo multi-robot simulator, version 9.0.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org


Gazebo multi-robot simulator, version 9.0.0
Copyright ...
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