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2015-08-12 14:24:13 -0500 asked a question OpenStreetMap for Gazebo

Hello there,

I have found out about OpenStreetMap support for Gazebo and wanted to try it out! So i have downloaded everything from github and tried to run it and i get the following error:

edonis@donnYsoft:~$ python /home/edonis/gazeboosm/gzosm.py Traceback (most recent call last): File "/home/edonis/gazeboosm/gzosm.py", line 10, in <module> from getOsmFile import getOsmFile File "/home/edonis/gazebo_osm/getOsmFile.py", line 12, in <module> import osmapi ImportError: No module named osmapi

How do i fix this?

Thank you very much!

2015-08-11 14:12:02 -0500 asked a question How to create a 3D World Enviroment of a particular Area

Dear Gazebo Users!

Thank you for taking time reading this Question! I need to make a 3D world model of my School and let the Robot go through this area... for example from building A to building B.

First of all is this possible ?

If yes how do i approach this Problem in the best way possible?Should i model everything with another Programm and then just add that model to Gazebo.

I really need Help!

Thank you very much!

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2015-06-01 03:31:48 -0500 asked a question Is there any Ultra sonic sensor model for Gazebo?

Hello There Dear Gazebo users,

I am Trying to add a Ultrasonic sensor to my robot model. Is there any model out there, or do i have to make one on my own.

Thank you very much!

P.S I have taken the description of the sonar Sensor found at world_demo.sdf --> Sonar I cannot remeber the name of the file at the moment. The description was found there. Is it fine to work with it, are there any issues realated to its Funcionality? Thank you very much.

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2015-04-15 07:30:39 -0500 commented answer Create a Joint between Base_Link and Table object

I'm getting this error: [ERROR] [1429104093.856942772]: Failed to build tree: parent link [link] of joint [tablejoint] not found. This is not valid according to the URDF spec. Every link you refer to from a joint needs to be explicitly defined in the robot description. To fix this problem you can either remove this joint [tablejoint] from your urdf file, or add "<link name="link" />" to your urdf file.

2015-04-13 02:35:49 -0500 asked a question Create a Joint between Base_Link and Table object

Hello to all respected Gazebo Users,

I am having trouble since last month getting everything to work. I am trying to put the base link of the UR10 robot to a table which is a Gazebo element and make it static so it doesn't move.

I have found out that i need to change the ur10.urdf.xacro and the ur10_joint_limited_robot.urdf.xacro. I added these lines to the last file:

 <link name="world" />

  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "base_link" />
    <origin xyz="0.0 0.0 1.2" rpy="0.0 0.0 0.0" />
  </joint>

it works fine as you can see the height is 1.2 meters away from the floor but it doesn't matter since I just wanted to see it.

What do i have to change in order for the robot model to spawn fixed to the table, instead of the World!

Thanks in advanced,

Kind Regards

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2015-03-12 07:03:29 -0500 asked a question Attach robot arm to the table instead of ground!

Hello Users,

I am trying with no success for 2 days to attach my robot arm, ur10 to a table in gazebo instead of the ground.

I have searched for the robot model .urdf but i cannot seem to find where i have to change it.

I always start the simulation with this code: roslaunch ur_gazebo ur10.launch limited:=true

I have found the file ur10.urdf.xacro and changed the pose and the robot was not attached to the ground anymore rather it was hanging around in the air because of the z coordinate which i have changed.

In this path: /opt/ros/indigo/share/urdescription/urdf/ i have the following files: ur10.urdf.xacro / ur10robot.urdf/ ur10.jointlimitedrobot.urdf/ ur10.jointlimitedrobot.urdf.xacro/.

I have tried to change the URDF files but as soon as i launch: roslaunch ur_gazebo u10.launch limited:=true the model isnt changed at all.

Does anyone know how to make the robot arm (ur10 in this case) fixed to a table rather then the world.

Best wishes.

2015-03-11 07:16:16 -0500 answered a question Start My World as Deafault

SO THIS IS THE URDF DESCRIPTION, WHERE DO I HAVE TO CHANGE <robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro"> <gazebo> <plugin filename="libgazebo_ros_control.so" name="ros_control"> </plugin>

</gazebo>

<link name="base_link"> <visual> <geometry> <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae"/> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/> </geometry> </collision> <inertial> <mass value="4.0"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/> </inertial> </link> <joint name="shoulder_pan_joint" type="revolute"> <parent link="base_link"/> <child link="shoulder_link"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/> <axis xyz="0 0 1"/> <limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="shoulder_link"> <visual> <geometry> <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae"/> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/> </geometry> </collision> <inertial> <mass value="7.778"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/> </inertial> </link> <joint name="shoulder_lift_joint" type="revolute"> <parent link="shoulder_link"/> <child link="upper_arm_link"/> <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.220941 0.0"/> <axis xyz="0 1 0"/> <limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="upper_arm_link"> <visual> <geometry> <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae"/> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/> </geometry> </collision> <inertial> <mass value="12.93"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.306"/> <inertia ixx="0.421753803798" ixy="0.0" ixz="0.0" iyy="0.421753803798" iyz="0.0" izz="0.036365625"/> </inertial> </link> <joint name="elbow_joint" type="revolute"> <parent link="upper_arm_link"/> <child link="forearm_link"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 1.0 0.612"/> <axis xyz="0 1 0"/> <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/> <dynamics damping="0.0" friction="0.0"/> </joint> <link name="forearm_link"> <visual> <geometry> <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae"/> </geometry> <material name="LightGrey"> <color rgba="0.7 0.7 0.7 1.0"/> </material> </visual> <collision> <geometry> <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/> </geometry> </collision> <inertial> <mass value="3.87"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.28615"/> <inertia ixx="0.111069694097" ixy="0.0" ixz="0 ... (more)

2015-03-11 06:45:30 -0500 commented answer Start My World as Deafault

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

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2015-03-11 06:16:38 -0500 commented answer Start My World as Deafault

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

2015-03-10 07:00:01 -0500 asked a question Start My World as Deafault

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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2015-03-05 03:59:08 -0500 asked a question Modified UR10 wont load!

Dear Gazebo Users,

I have been working now in Gazebo for a while and managed to play around with the UR10 model by attaching some sensors to it and it all loaded fine, I wanted to make all my Simulation move so i decided to lunch it in ROS and Simulate it in Gazebo using these Commands:

roslaunch urgazebo ur10.launch limited:=true roslaunch ur10moveitconfig ur10moveitplanningexecution.launch sim:=true limited:=true roslaunch ur10moveitconfig moveit_rviz.launch config:=true

Then I got the error that it cannot find launch files! After Installing libsdfromat1 it worked just as it should however the Modified UR10.sdf didnt load up giving me this error:

Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4 Error [parser.cc:697] XML Element[useparentmodelframe], child of element[axis] not defined in SDF. Ignoring.[axis] Error [parser.cc:688] Error reading element <axis> Error [parser.cc:688] Error reading element <joint> Error [parser.cc:688] Error reading element <model> Error [parser.cc:348] Unable to read element <sdf> Error: Could not find the 'robot' element in the xml file at line 81 in /build/buildd/urdfdom-0.2.10+dfsg/urdfparser/src/model.cpp Error [parserurdf.cc:2608] Unable to call parseURDF on robot model Error [parser.cc:273] parse as old deprecated model file failed. Error [ModelMaker.cc:126] Unable to load file[/home/labor/.gazebo/models/UniversalRobot/ur10.sdf]

I thought i can overcome this Error by Installing the libsdformat2-dev, it did Solve the Problem for loading the Model in Gazebo but the commands

roslaunch urgazebo ur10.launch limited:=true roslaunch ur10moveitconfig ur10moveitplanningexecution.launch sim:=true limited:=true roslaunch ur10moveitconfig moveit_rviz.launch config:=true

Didn't work.

I decided to change the model.config (by adding the sdf model 1.4 line) and by changing the sdf version from 1.5 to 1.4. Tried to load the model again but i got the same error as above without the line saying: Error [Converter.cc:127] Unable to convert from SDF version 1.5 to 1.4

Is there anyone who can help me solve this problem.

Thank you very much! I hope the Question was as clear as possible.

Kind Regards ,

E.Raci - Automotive Systems Engineering/ University Heilbronn / Germany.

P.S How is it possible to load the Robot model i have modified for example ur10_modified.urdf in ROS. I want to move this Model and to see the Simulation in Gazebo

2015-03-05 03:27:49 -0500 marked best answer I have to make a SDF from URDF

Dear Gazebo Users,

I need to have a SDF format of the Mobile Robot mp_500 but I'm struggling too much of getting the URDF converted into SDF. Does anyone have any idea how I can convert this file? What is it that i have to change in the URDF file to make it work?

Thank you very much.

E. Raci

2015-03-05 03:27:49 -0500 commented answer I have to make a SDF from URDF

I get the Error gz:: command not found! I have placed the URDF file i want to convert into .gazebo/models directory is it correct?

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2015-03-02 09:35:08 -0500 commented question I have to make a SDF from URDF

urdfdom-0.2.10+dfsg/urdfparser/src/model.cpp Error [parserurdf.cc:2608] Unable to call parseURDF on robot model Error [parser.cc:273] parse as old deprecated model file failed. Error [ModelMaker.cc:126] Unable to load file[/home/labor/.gazebo/models/Universal_Robot/ur10.sdf]