marguedas's profile - activity

HI, I did the same as you and finally narrowed down that it the problem is in the arms. when the forearm is vertical the physics implodes. I think that it's a matter of inertia on the L/RForeArn links

I don't have an answer but usually collada meshes are used for visualization. Textureless format with less vertices are usually used for collision, format as stl are best suited for this use case.

Hi, If you want I created python scripts to automatically generate AR tags models in gazebo. This might save you some time : https://github.com/keulYSMB/gazebo_mo...

Method used: texture square in blender and generate sdf files accordingly.

Hope this helps,

Hi, I have exactly the same issue but the previous answer didn't solve it. I'm running Gazebo2.2.3 on ROS Indigo (Ubuntu14.04). Here is my urdf implementation:

<link name="LFootBumperLeft_frame">
  <inertial>
    <mass value="0.03">
    <origin xyz="0 0 0">
    <inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9"/>
  </inertial>
<link>
<joint name="LFootBumperLeft_joint" type="fixed">
  <parent link="l_ankle"/>
  <child link="LFootBumperLeft_frame"/>
  <origin rpy="0 0 0" xyz="0.0876 0.019 -0.035"/>
</joint>

<gazebo reference="LFootBumperLeft_frame">
  <sensor name="LFootBumperLeft_frame_contact_sensor" type="contact">
    <always_on>true</always_on>
    <update_rate>100</update_rate>
    <contact>
      <collision>LFootBumperLeft_frame_collision</collision>
    </contact>
    <plugin name="fixed_jaw_bumper" filename="libgazebo_ros_bumper.so">
      <always_on>true</always_on>
      <update_rate>20</update_rate>
      <bumperTopicName>LFootBumperLeft_sensor_state</bumperTopicName>
      <frameName>LFootBumperLeft_frame</frameName>
    </plugin>
  </sensor>
</gazebo>

and I get the following error:

* Internal Program Error - assertion (this->customContactPublishers.count(name) > 0) failed in std::string gazebo::physics::ContactManager::CreateFilter(const string&, const std::vector<std::basic_string<char> >&): /tmp/buildd/gazebo2-2.2.3/gazebo/physics/ContactManager.cc(329): Failed to create a custom filter Aborted (core dumped)

I added a dummy mass and inertia element to my link hoping that this would make a difference but it didn't change anything.

Can this be a matter of masses/inertia ? Is it something to modify in my gazebo tags (in the urdf files)?

Thanks!

Mikael Arguedas