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2016-05-10 11:27:55 -0500 asked a question Providing a link between gazebo plugins and base_link in the robot model

Hi,

I have added the following plugins to my .gazebo file. When I do rostopic echo for all the topics, all the information about poses are updated. My problem is that when I do "rosrun tf view_frames", there is no link between odom and base_link. I would like to update the information of what I got from Gazebo into rviz tf tree. So, do I need to add some tags to the plugins in .gazebo file? Or do I need to add some links in the urdf file?

<gazebo> <!-- GPS plugin -->
<plugin name="robot_gps_sim" filename="libhector_gazebo_ros_gps.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>4.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>gps</topicName>
  <velocityTopicName>gps_velocity</velocityTopicName>
  <drift>5.0 5.0 5.0</drift>
  <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
  <velocityDrift>0 0 0</velocityDrift>
  <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</plugin>

<!-- Groundtruth plugin -->
<plugin name="robot_groundtruth_sim" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>odom</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>map</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin> 

<!-- IMU plugin -->
<plugin name="robot_imu_sim" filename="libhector_gazebo_ros_imu.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>100.0</updateRate> 
    <bodyName>base_link</bodyName>
    <frameID>robot_link1</frameID>
    <topicName>robot/IMU</topicName>
    <xyzOffset>0.0 0.0 0.0</xyzOffset>
    <rpyOffset>0.0 0.0 0.0</rpyOffset>
    <gaussianNoise>0</gaussianNoise>
    <accelDrift>0.5 0.5 0.5</accelDrift>
    <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
    <rateDrift>0.0 0.0 0.0</rateDrift>
    <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
    <headingDrift>0.0</headingDrift>
    <headingGaussianNoise>0.00</headingGaussianNoise>
</plugin> </gazebo>

Actually, I asked another questionin answers.ros.org, but I am not sure whether the problem has to do with the the way I have defined the plugins for gazebo.

Thank you.

2016-04-23 12:06:43 -0500 received badge  Enthusiast
2016-04-12 04:21:13 -0500 commented question Loading gazebo_ros_control faster

@Lucas Walter Here is the video: (https://youtu.be/QEoW0u978Bw). At the end of the video you will the the gazebo_ros_control is finally loaded.

2016-04-12 04:09:55 -0500 asked a question Installing DRCSIM on ROS Indigo

Hi,

I would like to add DRCSIM package to ROS Indigo catkin_ws. I have put the following packages into catkin_ws/src directory.

 # Download needed software
 git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git
 hg clone https://bitbucket.org/osrf/osrf-common
 hg clone https://bitbucket.org/osrf/sandia-hand
 hg clone https://bitbucket.org/osrf/drcsim

When I do catkin_make install, I get some errors. Before building and installing these packages into the workspace, everything is fine.

1) Is it possible to do catkin_make install inside the same ROS workspace (/catkin_ws/)?

2) Is it possible to run these packages for gazebo 2.2?

Thanks.

2016-04-12 01:57:42 -0500 commented question Loading gazebo_ros_control faster

I will make a video.

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2016-04-07 09:13:06 -0500 asked a question Loading gazebo_ros_control faster

Hello,

I am working on a 27-DOF robot. After the model is loaded on gazebo, it takes about 3 minutes for gazebo_ros_control plugin to be loaded. My question is: Is it possible to make it loaded faster? I know that some part of it has to do with the size of the .stl files, however, I would like to know if there is any remedy for it.

The distro of my ROS is indigo running on ubuntu 14.04.

Thanks.

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2015-10-05 06:56:32 -0500 answered a question The oscillation of a joint with no command and zero gains

I found the problem. It had to do with the max and min of the joint.

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2015-09-03 12:00:54 -0500 asked a question The oscillation of a joint with no command and zero gains

Hi,

I have loaded my robot into Gazebo. This robot is 6 DOF. You can see the files from here. I have tuned PID parameters of ros_control for five joints. But, tuning joint 4 is not really easy. The behavior of joint 4 is strange too. When the input is in the following range (1.5<$input$<2 and -2<$input$<-1.5) the joint moves correctly. Otherwise, the error signal oscillates and the process_value signal does not oscillate. The reason to this issue is not clear to me.

Would you please give me a hint how to do that.

To run the code easily please enter the following lines:

1) run gazebo:

roslaunch denso_gazebo denso_world.launch

2) run rqt to show the figures and commands:

roslaunch denso_control denso_rqt.launch

The distro of my ROS is indigo running on Ubuntu 14.04.

Thank you.