Problem adding gazebo_ros_control plugin in sdf model and running in gazebo

asked 2014-03-05 06:13:43 -0500

Raul Gui
1 ●1 ●2 ●1

Hello. I have a problem in my sdf model.I am trying add this code to my robot model sdf:

<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/my_robot2</robotNamespace>

    </plugin>

I am running this on ubuntu 12.04 with ROS Hydro and Gazebo1.9. I do this on terminal: §optirun gazebo I use optirun because I have two graphics boards (Bumblebee). After having the gazebo running, and I try to insert my model in gazebo through the insert option of gazebo. But I receive this error when inserting the model and the gazebo close.

[FATAL] [1394020657.190138065]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1394020657.190343598]: BREAKPOINT HIT
    file = /tmp/buildd/ros-hydro-roscpp-1.9.54-0precise-20140130-2139/src/libros/node_handle.cpp
    line=151

Here is my model.sdf:

<?xml version="1.0"?>
<sdf version="1.4">
  <model name="my_robot2">
    <static>false</static>

    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/my_robot2</robotNamespace> 
    </plugin>


    <link name="chassis">
      <pose>0 0 0.16 0 0 0</pose>
      <inertial> 
        <mass>5.0</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.445 0.277 0.17</size>
          </box>
        </geometry>
      </collision>
      <collision name="castor_collision">
        <pose>-0.200 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>1.0</slip1>
              <slip2>1.0</slip2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <pose>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>-0.200 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>
    </link>
    <link name="right_wheel">
      <pose>0.1 -.17 0.11 0 1.5707 1.5707</pose>
      <inertial>
        <mass>0.1</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.11</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </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>
    </link>
    <link name="left_wheel">
      <pose>0.1 .17 0.11 0 1.5707 1.5707</pose>
      <inertial>
        <mass>0.5</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <cylinder>
            <radius>0.11</radius>
            <length>0.05</length>
          </cylinder>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
            </ode>
          </friction>
        </surface>
      </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>
    </link>
    <joint type="revolute" name="left_wheel_hinge">
      <pose>0 0 -0.03 0 0 0</pose>
      <child>left_wheel</child>
      <parent>chassis</parent>
      <axis>
        <xyz>0 1 ...

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2 Answers

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answered 2015-05-21 21:53:41 -0500

xperroni

11 ●3 ●3 ●6 http://xperroni.me/

As evilBiber said, the problem likely isn't in your model file, but rather that you must run gazebo as a ROS node for plugin integration to work. For example, given the world file below:

<?xml version="1.0" ?>
<sdf version='1.4'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <physics type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
      <gravity>0 0 -9.8</gravity>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='pioneer2dx'>
      <link name='chassis'>
        <pose>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>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.445 0.277 0.17</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <bounce/>
            <friction>
              <ode/>
            </friction>
            <contact>
              <ode/>
            </contact>
          </surface>
        </collision>
        <collision name='castor_collision'>
          <pose>-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>
            </friction>
            <bounce/>
            <contact>
              <ode/>
            </contact>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose>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>-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>
        <velocity_decay>
          <linear>0</linear>
          <angular>0</angular>
        </velocity_decay>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
      <link name='right_wheel'>
        <pose>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 ...

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Comments

What about including ros_control in the sdf file? If i include the ros_control plugin in the sdf file, I get a error: `Could not find the 'robot' element in the xml file` . An sdf file for a model does not contain the "robot" tag, but instead "model". Does anyone know how to go about this?

l0g1x ( 2015-12-28 16:23:32 -0500 )edit

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answered 2014-03-13 07:26:25 -0500

evilBiber

881 ●3 ●7 ●18 http://ai.uni-bremen.de/

Hi,

I don't know if this helps but can you try to start gazebo with the script from the gazebo_ros pkg (you might have to edit it for optirun...)

This script forces gazebo to start with some gazebo plugins which might be needed for gazebo_ros_control (I quess the initialize call will be done in one of those plugins which means gazebo_ros_control does not has to call initialize again...)

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