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Setting projector pose vs. enclosing link pose?

asked 2014-01-15 12:19:28 -0600

updated 2016-03-22 15:19:00 -0600

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 ( ), 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
  Installed: 1.9.2-1~precise
  Candidate: 1.9.2-1~precise
  Version table:
 *** 1.9.2-1~precise 0
        500 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
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answered 2014-01-16 17:56:45 -0600

nkoenig gravatar image

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

Could you try the latest gazebo out?

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I've added system details above, I don't have a gazebo-current, though there are nightly and prerelease options provided by suggests I need to build from source to get gazebo-current.

Lucas Walter gravatar imageLucas Walter ( 2014-01-17 12:04:23 -0600 )edit

gazebo-current (and even ros-gazebo-pkgs-current) is available as a package in the 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).

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-01-20 10:39:05 -0600 )edit

It took me a while but I followed ( some background details are on ), 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?

Lucas Walter gravatar imageLucas Walter ( 2014-02-03 20:27:01 -0600 )edit

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.

Lucas Walter gravatar imageLucas Walter ( 2014-02-03 20:28:45 -0600 )edit

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Asked: 2014-01-15 12:19:28 -0600

Seen: 1,658 times

Last updated: Mar 22 '16