Collisions using meshes in DART

asked 2014-05-12 07:29:32 -0600

Enrico Mingo
121 ●19 ●21 ●27 http://www.iit.it/it/p...

Hi all, these days I am trying to use DART as dynamic engine for my GAZEBO simulations. I am running in a problem, I think i the same as the one that I had with simbody some times ago. Basically I have collisions only with part of the model that are made by primitive shapes and not with meshes. You can see the behavior in the following picture: image description

as you can see the contact is only present at the feet that are made by basic cube shapes while the other shapes made using meshes does not have contacts.

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answered 2014-05-17 07:09:46 -0600

Enrico Mingo
121 ●19 ●21 ●27 http://www.iit.it/it/p...

Hi! So I have downloaded the branch gazebo3.0dart_4.0 but if I try to run my robot with my modules GAZEBO crashes. I have also tried to insert some model like the 20Ton Cube and the drill but still they disappear in the floor while the tablo or the bookshelf no. Do you know some flags that I can use lunching GAZEBO to check the errors (maybe gdb is enough???)?

Thx!

Enrico

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Are you using `gazebo --verbose -e dart`?

scpeters ( 2014-05-19 04:39:11 -0600 )edit

Ok, I just did it, basically I got a lot of warnings:

[Wrn] [DARTMeshShape.cc:55] Not implemented!

[Wrn] [Model.cc:569] Calling Model::GetJoint(WaistSag) with un-scoped joint name is deprecated, please scope

[Wrn] [JointController.cc:289] Setting joint position is disabled, see issue #1138

And then, after the loading of the robot, GAZEBO close.

Enrico Mingo ( 2014-05-19 05:00:30 -0600 )edit

Just to be more accurate: I launch gazebo with the optirun command.

Enrico Mingo ( 2014-05-19 05:04:22 -0600 )edit

Furthermore, I have the same crashing problem also using other dynamic engines. I think the problem is related with the one that I have with the normal 3.0.0 as I wrote in this other topic: http://answers.gazebosim.org/question/5958/gazebo-300-stability-issue/

Enrico Mingo ( 2014-05-19 05:39:21 -0600 )edit

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answered 2014-05-14 11:01:42 -0600

scpeters
2861 ●4 ●21 ●33

This is a known issue. It has been implemented in branch gazebo_3.0_dart_4.0 branch, which hasn't yet been merged into a release branch. Can you try that branch?

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