No force_torque topic is published when loading xacro into ignition gazebo via ros2 launch

asked 2023-01-31 19:00:44 -0500

xibeisiber
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updated 2023-02-01 05:43:48 -0500

Hi, I want to simulate the force torque sensor in ignition gazebo together with ros2. I loaded the xacro file to ignition gazebo, the force torque sensor seems to be created successfully, but no force_torque topic is published by "ign topic -l". If I save the world into sdf file and load it into ignition gazebo, the force_torque topic appears.

The package is modified from ros_gz_sim_demos. link: https://github.com/gazebosim/docs/fil...

ros2 launch test_demos load_xacro.launch.py

ros2 launch test_demos load_sdf.launch.py

ign topic -l

Environment: ubuntu 22.04, ros2 humble, Ignition Gazebo 6.11.0

Thanks for any help!

Jia

answered 2023-02-02 02:24:52 -0500

xibeisiber
1 ●1 ●2 ●3

updated 2023-02-02 02:25:22 -0500

Partly solved.

For some unknown reason, the <plugin filename="ignition-gazebo-forcetorque-system" name="ignition::gazebo::systems::ForceTorque" /> can not be successfully loaded when written in xacro file.

A makeshift solution is to add this plugin in /usr/share/ignition/ignition-gazebo6/worlds/empty.sdf.

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Comments

hmm, that's really strange. Do you have a small example that can demonstrate the xacro issue?

azeey ( 2023-02-03 13:09:56 -0500 )edit

yes. The example package is https://github.com/gazebosim/docs/fil....

xibeisiber ( 2023-02-05 01:34:17 -0500 )edit

Ah, after looking into this quite a bit, I realized the problem was that the plugin was being added as part of the model while, as you've discovered, it should have been part of the world. i.e, the ForceTorque system is meant to be a world plugin, not a model plugin.

azeey ( 2023-02-06 17:15:46 -0500 )edit

Thanks for your reply!

xibeisiber ( 2023-04-07 02:38:32 -0500 )edit

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No force_torque topic is published when loading xacro into ignition gazebo via ros2 launch

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No force_torque topic is published when loading xacro into ignition gazebo via ros2 launch