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Error with gazebo_ros_controller_manager plugin - Gazebo-1.5 groovy

asked 2013-09-03 04:36:47 -0600

tseco gravatar image

Hello,

I have a robot model consists of a box with four wheels. The caja.urdf file is:

<robot name="caja" 

       xmlns:xi="http://www.w3.org/2001/XInclude"
       xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
       xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
       xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">


    <!--<xacro: property name ="radius" value =".5"/>
    <xacro: property name ="length" value =".02"/>
    <xacro: property name ="pi" value ="3.1415"/>-->


  <link name="base">

    <inertial>
      <mass value="45.0" />
      <origin xyz="0 0 0.07" />
      <inertia  ixx="3.737" ixy="0.008"  ixz="-0.144"  iyy="8.311"  iyz="-0.004"  izz="8.893" />
    </inertial>

    <visual>
     <origin rpy="0 0 0" xyz="0 0 0.07"/>
     <geometry>
        <box size=".5 .6 .3"/>
     </geometry>
    </visual>

    <collision>
       <origin xyz="0 0 0" rpy="0 0 0 " />
       <geometry>
        <box size=".5 .6 .3"/>
      </geometry>
    </collision>     
  </link>

  <gazebo reference="base">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <link name="right_front_wheel">
        <inertial>
      <mass value="25.0" />
      <inertia  ixx="1" ixy="0"  ixz="0"  iyy="1"  iyz="0"  izz="1" />
    </inertial>

   <visual>
            <geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </visual>

   <collision>-->

<geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </collision> 

  </link>

  <gazebo reference="right_front_wheel">
    <material>Gazebo/Black</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>


  <joint name="joint_front_right_wheel" type="continuous">
    <parent link="base"/>
    <child link="right_front_wheel"/>
        <axis xyz = "0 1 0"/>
        <origin xyz="0.275 -0.3 -0.08" rpy="1.57075 0 1.57075"/>
        <limit effort = "100" velocity = "100"/>
  </joint> 

 <transmission name="joint_frw_trans" type="pr2_mechanism_model/SimpleTransmission">
     <joint name="joint_front_right_wheel" />
     <actuator name="joint_frw_motor">
    <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    <motorTorqueConstant>200</motorTorqueConstant>
  </transmission>



 <link name="left_front_wheel">
        <inertial>
      <mass value="25.0" />
      <inertia  ixx="1" ixy="0"  ixz="0"  iyy="1"  iyz="0"  izz="1" />
    </inertial>

   <visual>

  <geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </visual>

   <collision>
 <geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </collision> 

  </link>
  <gazebo reference="left_front_wheel">
    <material>Gazebo/Black</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <joint name="joint_front_left_wheel" type="continuous">
    <parent link="base"/>
    <child link="left_front_wheel"/>
        <axis xyz = "0 1 0"/>
        <origin xyz="-0.275 -0.3 -0.08" rpy="1.57075 0 1.57075"/>
        <limit effort = "100" velocity = "100"/>
    </joint> 

 <transmission name="joint_flw_trans" type="pr2_mechanism_model/SimpleTransmission">
     <actuator name="joint_flw_motor" />
     <joint name="joint_front_left_wheel" />
     <mechanicalReduction>1</mechanicalReduction>
     <motorTorqueConstant>200</motorTorqueConstant>
  </transmission>


  <link name="right_back_wheel">
        <inertial>
      <mass value="25.0" />
      <inertia  ixx="1" ixy="0"  ixz="0"  iyy="1"  iyz="0"  izz="1" />
    </inertial>

   <visual>-->

    <geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </visual>

   <collision>

  <geometry>
        <cylinder radius=".07" length = ".05"/>
      </geometry>
    </collision> 

  </link>

  <gazebo reference="right_back_wheel">
    <material>Gazebo/Black</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

  <joint name="joint_back_right_wheel ...
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answered 2013-09-15 18:33:52 -0600

nkoenig gravatar image

Can you post a backtrace from your segfault?

I'd also recommend upgrading to Gazebo 1.9 and ROS hydro. There is much better Gazebo + ros integration now: http://gazebosim.org/wiki/Tutorials#ROS_Integration

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Asked: 2013-09-03 04:36:47 -0600

Seen: 830 times

Last updated: Sep 15 '13