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2016-01-20 05:33:58 -0600 asked a question Laser plug-in publishes abnormal scanning results

I followed this tutorial and added the hokuyo laser plugin to my URDF. When in launched the model in gazebo and tried to visualize it in Rviz i got some strange results as shown below. The following result is constant, irrespective of robot pose, robot movement and obstacles.

image description

When I replaced the gpu_ray scanner with ray scanner as given in the tutorial, the result seems to be fine except the laser ray is pointed towards right side of the robot (Ref image below).

image description

I want to use Gpu_ray laser in my robot model for map building to simulate the navigation stack, can someone guide me to fix this issue.

2016-01-18 13:16:27 -0600 asked a question laser plug-in in urdf fails to publish scan results

I have added differential drive plug-in and laser sensor (hokuyo) plug-in to my urdf file. I launched the robot in environment shown below and moved the robot using tele-operation.

image description

Then i launched the rviz and did the setup required to view the scan results fron laser plug-in but it failed (refer the pic below).

image description

Following are my terminal result and result for rostopic echo /scan respectively.

image description

image description

Below is my plug-in code

Link & joint

<link name="hokuyo_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

  <joint name="hokuyo_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 -0.055 0.2" rpy="0 0 0"/>
    <parent link="Base_plate"/>
    <child link="hokuyo_link"/>
  </joint>

Laser controller

<gazebo reference="hokuyo_link">
    <sensor type="gpu_ray" name="hokuyo">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>100</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
      </ray>
      <plugin name="gpu_laser" filename="libgazebo_ros_gpu_laser.so">
        <topicName>/scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

How to fix the prblem and obtain the results from laser plug-in?

2016-01-04 00:31:29 -0600 received badge  Enthusiast
2015-12-29 07:53:47 -0600 answered a question Pose and orientation of my robot is incorrect in Gazebo

After a brief play with urdf file i fixed it. I inverted the sign of base_plate origin's Y co-ordinate.

Error:

<inertial>
      <origin
        xyz="-0.3317 -0.71959 -0.39019"
        rpy="0 0 0" />

Solution:

 <inertial>
      <origin
        xyz="-0.3317 0.71959 -0.39019"
        rpy="0 0 0" />
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2015-12-17 11:41:45 -0600 asked a question Pose and orientation of my robot is incorrect in Gazebo

I have exported the URDF from Solidworks using solidworks to URDF plugin. I didn't modify any option in dialogues opened during export. Then i created an URDF package in ROS workspace and spawned the robot model into the world which resulted in inverted pose of the robot as shown in picture. image description

Following is my URDF file, where have i gone wrong and how to patch it up.

 <robot
  name="JMbot">
  <link
    name="Base_plate">
    <inertial>
      <origin
        xyz="-0.3317 -0.71959 -0.39019"
        rpy="0 0 0" />
      <mass
        value="0.55378" />
      <inertia
        ixx="0.0061249"
        ixy="0.00016086"
        ixz="-8.6651E-18"
        iyy="0.0041631"
        iyz="-1.4656E-17"
        izz="0.010283" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Base_plate.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Base_plate.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Wheel_R">
    <inertial>
      <origin
        xyz="0.010951 1.1102E-16 -1.1102E-16"
        rpy="0 0 0" />
      <mass
        value="0.45064" />
      <inertia
        ixx="0.00091608"
        ixy="-1.2355E-19"
        ixz="1.0715E-18"
        iyy="0.00053395"
        iyz="-6.7763E-20"
        izz="0.00053395" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_R.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_R.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_R"
    type="continuous">
    <origin
      xyz="-0.14688 0.40756 -0.73464"
      rpy="-2.7127 -0.081268 -3.1416" />
    <parent
      link="Base_plate" />
    <child
      link="Wheel_R" />
    <axis
      xyz="1 0 0" />
  </joint>
  <link
    name="Wheel_L">
    <inertial>
      <origin
        xyz="-0.039049 2.2204E-16 2.498E-15"
        rpy="0 0 0" />
      <mass
        value="0.45064" />
      <inertia
        ixx="0.00091608"
        ixy="-9.6693E-19"
        ixz="-1.7816E-18"
        iyy="0.00053395"
        iyz="1.3553E-19"
        izz="0.00053395" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.74902 0.74902 0.74902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Wheel_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wheel_L"
    type="continuous">
    <origin
      xyz="-0.46668 0.40756 -0.70859"
      rpy="2.512 0.081268 3.4272E-15" />
    <parent
      link="Base_plate" />
    <child
      link="Wheel_L" />
    <axis
      xyz="-1 0 0" />
  </joint>
  <link
    name="Castor_F">
    <inertial>
      <origin
        xyz="2.2204E-16 0 0.031164"
        rpy="0 0 0" />
      <mass
        value="0.056555" />
      <inertia
        ixx="2.4476E-05"
        ixy="-2.8588E-35"
        ixz="1.0281E-20"
        iyy="2.4476E-05"
        iyz="-1.2617E-20"
        izz="7.4341E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description/meshes/Castor_F.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://jmbot_description ...
(more)
2015-12-15 13:54:09 -0600 asked a question Error while launching model in gazebo

I have built an urdf file from solidworks and converted the urdf to sdf as below.

 <?xml version='1.0'?>
<sdf version='1.4'>
  <model name='JMbot1'>
    <link name='Base_plate'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.3317 -0.71959 -0.39019 0 -0 0</pose>
        <mass>0.55378</mass>
        <inertia>
          <ixx>0.0061249</ixx>
          <ixy>0.00016086</ixy>
          <ixz>-8.6651e-18</ixz>
          <iyy>0.0041631</iyy>
          <iyz>-1.4656e-17</iyz>
          <izz>0.010283</izz>
        </inertia>
      </inertial>
      <collision name='Base_plate_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Base_plate.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='Base_plate_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Base_plate.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <link name='Castor_F'>
      <pose>-0.31952 0.39256 -0.57008 -1.5708 1.1481 -6.76601e-16</pose>
      <inertial>
        <pose>2.2204e-16 0 0.031164 0 -0 0</pose>
        <mass>0.056555</mass>
        <inertia>
          <ixx>2.4476e-05</ixx>
          <ixy>-2.8588e-35</ixy>
          <ixz>1.0281e-20</ixz>
          <iyy>2.4476e-05</iyy>
          <iyz>-1.2617e-20</iyz>
          <izz>7.4341e-06</izz>
        </inertia>
      </inertial>
      <collision name='Castor_F_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Castor_F.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='Castor_F_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Castor_F.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='Castor_F' type='revolute'>
      <child>Castor_F</child>
      <parent>Base_plate</parent>
      <axis>
        <xyz>-3.34991e-06 1 -1.50683e-06</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='Castor_R'>
      <pose>-0.34387 0.39256 -0.86909 1.5708 -0.93144 -3.14159</pose>
      <inertial>
        <pose>-1.1102e-16 0 0.031164 0 -0 0</pose>
        <mass>0.056555</mass>
        <inertia>
          <ixx>2.4476e-05</ixx>
          <ixy>0</ixy>
          <ixz>-3.9352e-20</ixz>
          <iyy>2.4476e-05</iyy>
          <iyz>-1.951e-20</iyz>
          <izz>7.4341e-06</izz>
        </inertia>
      </inertial>
      <collision name='Castor_R_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Castor_R.STL</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='Castor_R_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://JMbot1/meshes/Castor_R.STL</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='Castor_R' type='revolute'>
      <child>Castor_R</child>
      <parent>Base_plate</parent>
      <axis>
        <xyz>-1.02941e-05 1 -2.19172e-06</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics/>
      </axis>
    </joint>
    <link name='Wheel_L'>
      <pose>-0.46668 0.40756 -0.70859 2.512 0.081268 3.42872e-15</pose>
      <inertial>
        <pose>-0.039049 2.2204e-16 2.498e-15 0 -0 0</pose>
        <mass>0.45064</mass>
        <inertia>
          <ixx>0.00091608</ixx>
          <ixy>-9.6693e-19</ixy>
          <ixz ...
(more)
2015-12-15 13:43:44 -0600 commented answer Model names and hierarchy

Me too facing the same problem, since i am new to Gazebo can you please elaborate how to fix this (with commands)

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2015-10-13 04:30:14 -0600 asked a question Hardware support for gazebo - AMD processor.

I want to run ROS and gazebo in my system, the system consist of AMD processor with 4 Gb RAM, 2GB graphic card. Will i be able to run gazebo along with ROS in this specs.

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2015-08-12 01:53:27 -0600 asked a question Cannot launch Gazebo2.2.3

i have gazebo2.2.3 installed along with ROS indigo, when i try to run gazebo with gazebo i received following result

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 172.27.138.171
robotics@robotics-desktop:~$

After some research i executed gzserver and got the below result

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 172.27.138.171
Segmentation fault (core dumped)
robotics@robotics-desktop:~$

Similarly for gzclienti got

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master..............................
Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.
Error [gazebo.cc:59] Unable to initialize transport.
Error [gazebo.cc:203] Unable to setup Gazebo
robotics@robotics-desktop:~$

Some of my searches telling this is issue related to graphics card so below is my graphic card details

00:02.0 VGA compatible controller [0300]: Intel Corporation 4 Series Chipset Integrated Graphics Controller [8086:2e32] (rev 03) (prog-if 00 [VGA controller])
    Subsystem: Intel Corporation Device [8086:d613]
    Flags: bus master, fast devsel, latency 0, IRQ 44
    Memory at d0000000 (64-bit, non-prefetchable) [size=4M]
    Memory at c0000000 (64-bit, prefetchable) [size=256M]
    I/O ports at f140 [size=8]
    Expansion ROM at <unassigned> [disabled]
    Capabilities: <access denied>
    Kernel driver in use: i915

I am using ubuntu 14.04, ROS indigo, Gazebo2.2.3, how to get arround this issue?