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 0</xyz>
</axis>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<pose>0 0 0.03 0 0 0</pose>
<child>right_wheel</child>
<parent>chassis</parent>
<axis>
<xyz>0 1 0</xyz>
</axis>
</joint>
<!--
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<robotNamespace>/myrobot2</robotNamespace>
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<leftJoint>left_wheel_hinge</leftJoint>
<rightJoint>right_wheel_hinge</rightJoint>
<torque>5</torque>
<wheelSeparation>0.39</wheelSeparation>
<wheelDiameter>0.15</wheelDiameter>
<commandTopic>p3dx/cmd_vel</commandTopic>
<odometryTopic>p3dx/odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
</plugin>-->
<plugin filename="libDiffDrivePlugin.so" name="diff_drive">
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<torque>5</torque>
</plugin>
<include>
<uri>model://noisy_laser</uri>
<pose>0.2 0 0.3 0 0 0</pose>
</include>
<joint name="hokuyo_joint" type="revolute">
<child>hokuyo::laser_link</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<upper>0</upper>
<lower>0</lower>
</limit>
</axis>
</joint>
</model>
</sdf>
If I erase that code of gazebo_ros_control plugin, the gazebo can insert the model without nay problem. Can anyone find the problem?? I search on web but only tutorials that explain sdf, are of the gazebosim, but they don't explain how insert plugin to sdf files. For me the tutorials of modeling a robot in sdf are too incomplete. I think that I am putting the code in wrong way.
I have another question, if rviz suport SDF models or only URDF models? If I can load my model in rviz with sdf model?
Thanks for your time.
