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Setting projector pose vs. enclosing link pose?

In gazebo 1.9.2 I see behavior where setting the pose of a projector produces glitchy results (see left of image below), whereas setting the pose of the link enclosing the projector looks as expected on the right:

image description

SDF source file

I observed a similar glitch using projectors launched from ROS Hydro urdf/xacro files ( http://answers.ros.org/question/118726/gazebo-projectors-only-work-on-links-connected-with-revolute-joints/ ), I need to experiment to see if I can get it working there by only manipulating the link pose and avoid using the projector pose.

My system information:

$ apt-cache policy gazebo
gazebo:
  Installed: 1.9.2-1~precise
  Candidate: 1.9.2-1~precise
  Version table:
 *** 1.9.2-1~precise 0
        500 http://packages.ros.org/ros/ubuntu/ precise/main amd64 Packages
        100 /var/lib/dpkg/status

$ apt-cache search gazebo
gazebo - Gazebo simulator - Main package
gazebo-dbg - Gazebo simulator - Debugging symbols
gazebo-nightly - Gazebo simulator - Main package
gazebo-nightly-dbg - Gazebo simulator - Debugging symbols
gazebo-prerelease - 3D dynamics simulator for robotics
gazebo-prerelease-dbg - debugging symbols for gazebo

$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 12.04.4 LTS
Release:    12.04
Codename:   precise

3.5.0-45-generic #68~precise1-Ubuntu SMP Wed Dec 4 16:18:46 UTC 2013 x86_64 x86_64 x86_64 GNU/Linux

Asked by Lucas Walter on 2014-01-15 13:19:28 UTC

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Answers

I'm using the latest gazebo (gazebo-current ubuntu package), and the projector seems to work okay.

Could you try the latest gazebo out?

Asked by nkoenig on 2014-01-16 18:56:45 UTC

Comments

I've added system details above, I don't have a gazebo-current, though there are nightly and prerelease options provided by packages.ros.org. http://gazebosim.org/wiki/Install/Gazebo_and_ROS suggests I need to build from source to get gazebo-current.

Asked by Lucas Walter on 2014-01-17 13:04:23 UTC

gazebo-current (and even ros-gazebo-pkgs-current) is available as a package in the packages.osrfoundation.org repository. You can install it as a package, but be sure of using a catkin workspace with your ROS packages so they get built from source on top of the gazebo-current package. You can not use ROS repository gazebo related packages with gazebo-current (ABI incompatible).

Asked by Jose Luis Rivero on 2014-01-20 11:39:05 UTC

It took me a while but I followed http://gazebosim.org/wiki/2.0/install ( some background details are on http://binarymillenium.com/2014/02/installing-full-desktop-ros-hydro-from.html ), I see the same faulty behavior. Despite running hg up gazebo_2.0 I appear to have version 2.2.1 when I run what I've built. Is there something newer I should try?

Asked by Lucas Walter on 2014-02-03 21:27:01 UTC

I may not have been clear in the post, but the sdf file check in earlier was the working one, the one I've just pushed shows the faulty behavior.

Asked by Lucas Walter on 2014-02-03 21:28:45 UTC