Ros2 and gazebo. Can someone help me?
Hi i am new with gazebo and ros. I have my own world file and i added to it the libgazeborosdiffdrive.so in order to do the same thing of the example world gazeborosdiffdrive_demo.world. When i try to run the world with i have an error:
Error [parser.cc:340] Error parsing XML in file [/home/daniel/intentosimu.world]: Error reading end tag. [Err] [Server.cc:394] Unable to read sdf file[/home/daniel/intentosimu.world]
But if i copy paste the same code from the original file everything goes perfectly.
Here is the code:
<?xml version="1.0"?>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name='pioneer2dx'>
<pose>0 0 0.325 0 -0 0</pose>
<link name='chassis'>
<pose frame=''>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>
<pose frame=''>0 0 0 0 -0 0</pose>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.445 0.277 0.17</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<collision name='castor_collision'>
<pose frame=''>-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>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<pose frame=''>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 frame=''>-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>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='right_wheel'>
<pose frame=''>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>
<pose frame=''>0 0 0 0 -0 0</pose>
</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>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</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>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<link name='left_wheel'>
<pose frame=''>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>
<pose frame=''>0 0 0 0 -0 0</pose>
</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>
<torsional>
<ode/>
</torsional>
</friction>
<contact>
<ode/>
</contact>
<bounce/>
</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>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='left_wheel_hinge' type='revolute'>
<pose frame=''>0 0 -0.03 0 -0 0</pose>
<child>left_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<joint name='right_wheel_hinge' type='revolute'>
<pose frame=''>0 0 0.03 0 -0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>1</use_parent_model_frame>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/demo</namespace>
<argument>cmd_vel:=cmd_demo</argument>
<argument>odom:=odom_demo</argument>
</ros>
<pose frame=''>0.137865 -0.009601 0 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>35 39000000</sim_time>
<real_time>35 333895388</real_time>
<wall_time>1591784247 836450534</wall_time>
<iterations>35039</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>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 frame=''>0.187144 -0.007815 -1e-06 0 -3.1e-05 -0.000323</pose>
<scale>1 1 1</scale>
<link name='chassis'>
<pose frame=''>0.187139 -0.007815 0.159999 0 -3.1e-05 -0.000323</pose>
<velocity>0.002496 0.00012 0.001325 1.6e-05 -0.041571 -1.7e-05</velocity>
<acceleration>-1.43843 0.008004 2.65016 0.035704 -1.46043 0.012583</acceleration>
<wrench>-8.15588 0.045383 15.0264 0 -0 0</wrench>
</link>
<link name='left_wheel'>
<pose frame=''>0.287195 0.162153 0.110002 -1.15464 1.57057 0.415742</pose>
<velocity>0.004574 9.5e-05 0.00549 -0.000837 0.041572 -3.2e-05</velocity>
<acceleration>2.71308 -0.013215 10.9773 -0.82084 0.000886 -0.004025</acceleration>
<wrench>4.06962 -0.019823 16.4659 0 -0 0</wrench>
</link>
<link name='right_wheel'>
<pose frame=''>0.287085 -0.177847 0.110002 -0.044763 1.5707 1.52561</pose>
<velocity>0.004575 9.1e-05 0.005476 -0.0008 0.041593 -8e-06</velocity>
<acceleration>2.72452 -0.01704 10.9529 -0.784279 0.012741 0.038966</acceleration>
<wrench>4.08678 -0.025561 16.4294 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>10.4636 -4.31683 8.76032 0 0.547643 2.58819</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
=======
Asked by MrBobSan on 2020-06-10 05:56:32 UTC
Comments
how is this supposed to work? Never seen any tag with slash at the end.
Asked by kumpakri on 2020-06-12 03:29:43 UTC
The code comes directly from creating the world in the gazebo app and saving it. The mistake was that I forgot to add the plugin correctly. It finally works. Thank you anyway.
Asked by MrBobSan on 2020-07-01 04:51:25 UTC