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2016-06-07 05:52:33 -0500 answered a question how to make a object static in gazebo

To make it static add a <static>true</static> tag under the <model> tag of your SDF.
For mass, you'll have to go under <inertial> of every link in the object and add a <mass> tag.

Also, for reference, use this link: http://sdformat.org/spec

2016-06-03 04:39:43 -0500 asked a question gazebo_ros_control not working

Hey guys,

I have a robot, which I've successfully created a URDF for. The URDF loads in Gazebo just fine, but I'm unable to use gazebo_ros _control to read position/control it. Here is a link to the 2 ROS packages I have made and used. I've used the rrbot_gazebo and rrbot_control examples from this linkas a reference. On running the launch file, my output on the terminal is http://pastebin.com/2Vi9QBfW.

I've checked that controller_manager is correctly installed on my system, and I have also got gazebo_ros_control working. Any help would be appreciated, thanks!

PS: I'm running Gazebo 7 with Ubuntu 14.04.4 and ROS Indigo.

2016-05-25 02:58:52 -0500 commented answer Xacro model spawn issues

Thanks for your help, I managed to create a SDF file for my robot manually. I'm using that now.

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2016-05-24 05:49:49 -0500 answered a question how to create a gazebo world of a particular area

If you mean a map reproduction, you can look into this question: http://answers.gazebosim.org/question...

2016-05-23 00:21:14 -0500 answered a question how to use urdf.xacro file in Gazebo???

In your launch file, add a line to convert your .xacro file to .urdf. Gazebo can handle urdf directly, and a python script exists for the same. Here it is:

<param name="robot_description" command="$(find xacro)/xacro.py $(find $DIRECTORY_WITH_ROBOT_DESCRIPTION_FILES)/urdf/$YOUR_FILE_NAME.urdf.xacro" />
2016-05-22 22:47:50 -0500 commented answer Xacro model spawn issues

Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py /home/karthik/ws/src/yumi_description/urdf/yumi.urdf.xacro] returned with code [1]. Param xml is The traceback for the exception was written to the log file. If I use the urdf.xacro, I get the above error, Which means I cant use it.

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2016-05-19 22:12:50 -0500 commented question Xacro model spawn issues

Error [parser_urdf.cc:3408] Unable to call parseURDF on robot model Error [parser.cc:309] parse as old deprecated model file failed. [Err] [Server.cc:380] Unable to read sdf file[src/yumi_gazebo/launch/yumitest.launch] This is what I get.

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2016-05-19 05:17:15 -0500 commented answer Xacro model spawn issues

@nkoenig, if you see the launch file above, I've done that, as was done in the tutorial, but still the same result.

2016-05-18 22:23:18 -0500 commented answer Can't spawn xacro model in Gazebo

Hey, can you link me to the xacro files you used? Thanks in advance.

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2016-05-18 22:09:03 -0500 asked a question Xacro model spawn issues

Hey guys,

I need to simulate a custom robot model in Gazebo (I'm using Ubuntu 14.04.4 with ROS Indigo and Gazebo 7.1, which I have manually installed using the osrf repository). The xacro file I have works with Rviz just fine, but despite running without errors, I get nothing in Gazebo. I'm using the xacro files from here.

Also, here is my launch file:

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

       <param name="robot_description" command="$(find xacro)/xacro.py $(find yumi_description)/urdf/yumi.xacro" />

       <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model yumi" />

</launch>

I'm sorry if this is a repeat question, but I've tried quite a few of the other solutions, and I'm not really sure how to manually convert the xacro in question to SDF.

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2015-07-01 06:08:39 -0500 commented answer OSM/Google Maps with Gazebo

Your edited version of the library is giving me an empty world in gazebo when I take the input as a manually downloaded .osm file. I tried uncommenting the custom boundaries stuff too, but no difference. I checked both outFiles, and couldn't find any difference either.

2015-06-30 02:21:01 -0500 commented answer OSM/Google Maps with Gazebo

So, I tried using your edited version of the library, and the default map is working just fine. However, on entering custom latitude/longitude (via interactive mode of the python program), I get an error that says "could not create datasource for type osm".

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2015-06-29 05:36:56 -0500 commented answer OSM/Google Maps with Gazebo

Thanks a lot for your answer! Will try out your edited version of the gazebo_osm library and get back to you.

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2015-06-26 03:46:33 -0500 commented answer OSM/Google Maps with Gazebo

So, I tried running the gz_osm.py file under tkhurana's library in interactive mode, so as to enter some custom Latitude/Longitude data. I get an error that says "could not create datasource", but the default map generates just fine. Any ideas as to what am I missing?

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2015-06-25 07:04:05 -0500 commented question DRC Vehicle is not moving after giving velocity to wheel joint

Hi, since you're using the DRC Vehicle, why not pass commands to it via a separate script (python/C++) to accelerate/brake/turn? There are pre-defined variables setting the state of the gas pedal, brake pedal and steering wheel, so simply publishing data to these variables should do the job.

2015-06-23 23:52:59 -0500 asked a question OSM/Google Maps with Gazebo

Hi,

Is there a way to import street views from Open Street Maps/Google Maps to use as a Gazebo world file? I'm working on a simulator for an autonomous car, and this would be really helpful!

Thanks in advance.

2015-06-16 23:32:31 -0500 asked a question DRC Vehicle commands via rospy

Hi, I am trying to control the DRC Vehicle using a python code to substitute the rostopic pub commands given through the terminal, however, I'm not making much headway. On running the code, rostopic echo returns the default values for all parameters. This is the code I have tried: (I'm very new to ROS and Gazebo, recently started learning)

import roslib; roslib.loadmanifest('vehiclecontrol') import rospy from stdmsgs.msg import Float64 from stdmsgs.msg import Int8

def mover(): rospy.initnode('vehiclecontrol')

rospy.loginfo("Release brake.")
pub1=rospy.Publisher('/drc_vehicle_xp900/hand_brake/cmd', Float64)
pub1.publish(data=0.0)
rospy.sleep(3);

rospy.loginfo("Moving forward.")
pub2=rospy.Publisher('/drc_vehicle_xp900/gas_pedal/cmd', Float64)
pub2.publish(data=1.0)
rospy.sleep(3);

rospy.loginfo("Turning right.")
pub3=rospy.Publisher('/drc_vehicle_xp900/hand_wheel/cmd', Float64)
pub3.publish(data=3.14)
rospy.sleep(3);

rospy.loginfo("Killing engine.")
pub5=rospy.Publisher('/drc_vehicle_xp900/key/cmd', Int8)
pub5.publish(data=0)
rospy.sleep(3);

if name == 'main': try: mover() except rospy.ROSInterruptException: pass

Any help would be great, thanks in advance!