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Start My World as Deafault

asked 2015-03-10 07:00:01 -0600

edo_raci gravatar image

updated 2015-03-10 07:18:08 -0600

Hello Dear Users,

My question is: I am working on UR10, and I have downloaded from ROS the package UniversalRobot in this way I can simulate the UR10 and control it via Rviz. The command i always use to open up the ur10 model in gazebo is: roslaunch urgazebo ur10.launch limited:=true now my question is: I have created a world via the Model Editor to have a simulation that looks like the Lab. where i am working from. How to include this file i created Labor.sdf in the roslaunch ur_gazebo ur10.launch limited:=true so that every time i execute the code, the ur10 and the World i have created will come up.

All the best wishes!

p.s i found this piece of code:

<include file="$(find gazebo_ros)/launch/empty_world.launch"> <arg name="world_name" default="worlds/empty.world"/> <arg name="paused" value="$(arg paused)"/> </include>

How would i Include my world and not the empty world.

Thank you very much ^^

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answered 2015-03-10 18:54:32 -0600

winston gravatar image

updated 2015-03-10 18:59:13 -0600

In your world file, add this

<include>
   <uri>model://[ur10_model's_name/]</uri>
</include>

And then in the launch file, use this

<include file="$(find gazebo_ros)/launch/empty_world.launch"> 
     <arg name="world_name" value="[world_file_location]"/> 
</include>

Change everything in [ ] according to your model/world file's locations. You may also need to change the GAZEBO_ MODEL_PATH or GAZEBO _ RESOURCE _ PATH for gazebo to find your model/world files.

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It worked, actually i only had to change the launch file, the rest did work just amazing. Thank you for the great help!

edo_raci gravatar imageedo_raci ( 2015-03-11 06:16:38 -0600 )edit

Another Question: How do i start the UR10 model not to be fixed on the ground but on a table?

edo_raci gravatar imageedo_raci ( 2015-03-11 06:45:30 -0600 )edit

You can change the <pose>[initial position]</pose> to where you want to put the robot. And then you can use a revolute joint to connect the robot and the table with limit (upper limit=lower llimit=0) to make it fixed. If you use gazebo with ROS, you can also use a fixed joint directly. More details can be checker out at link:[here](http://gazebosim.org/tutorials?tut=add_laser&cat=build_robot") .

winston gravatar imagewinston ( 2015-03-11 07:06:20 -0600 )edit

If this problem is solve, please mark this answer as solved by clicking the check. @edo_raci

winston gravatar imagewinston ( 2015-03-21 22:16:53 -0600 )edit
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Asked: 2015-03-10 07:00:01 -0600

Seen: 607 times

Last updated: Mar 11 '15