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2021-01-13 23:06:00 -0500 asked a question SetWorldPose() of several models: very slow updates

SetWorldPose() of several models: very slow updates I'm using this simple plugin to move a model through a sinusoidal tr

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2018-10-05 11:52:46 -0500 commented answer Uncheck World | Physics | enable physics from command line, or at launch time?

Was this solved? I have the same problem (I want to disable the physics of Gazebo). I know I can uncheck it in the Gazeb

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2016-02-25 07:24:12 -0500 asked a question Colours in Gazebo 5 are always shown white

Hi everybody,

It's the simplest problem I've faced, but I'm not able to solve it. I'm working with an urdf file with Gazebo 5. The problem is that in Gazebo the colours doesn't appear as I want, they always appear white:

image description

However, adding a model from the gazebo database works right and the colors are shown properly. I think the problem is in the urdf file, but I don't know where the mistake is. When I was working with Gazebo 2 the colors from worked propely but when I moved to Gazebo 5 they don't work.

Thanks!!

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2015-11-23 03:22:01 -0500 asked a question Deformable object using Bullet or Simbody

Does somebody know which parameters should I write in the sdf file (or in general, what should I do) in order to simulate a deformable object in Gazebo? I've already been able to make a rigid simulation using Ode, Bullet or Simbody physics engines (I don't know which physics engine is better for deformable objects), but I still don't know how to, for example, tell gazebo the stiffness of a link.

Thank you

2015-10-31 12:30:51 -0500 marked best answer FILENAME WHEN USING DiffDrivePlugin6w hector_gazebo plugin

Can someone tell me which filename do I have to put here: (if I write libgazeborosdiff_drive.so it doesn't work...)

image description

Thank you!!

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2015-09-01 12:01:26 -0500 asked a question Stiffness of a leg link

I'm trying to simulate a rhex-robot that has this kind of legs:

My question is how can I set (in the urdf file) the stiffnes of the leg_link. I know how to set kp and kd (contact stiffness and damping parametres), but they are referred to a JOINT, and I want set the stiffness of a specific LINK. I've been able to simulate the robot, but the legs behave as if they were rigid. I would like them to behave like this:

image description

(when the leg touches the ground, the circunference "deforms")

How can I do that?

2015-09-01 11:04:22 -0500 answered a question How to ECHO an specific field of the link_states topic?

The best way to get the position and more info of a link is using this pluin in your urdf:

<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>base_pose_ground_truth</topicName>
  <gaussianNoise>0</gaussianNoise>
  <frameName>/map</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin>

image description

(it also works with rostopic echo..... )

2015-08-31 12:18:20 -0500 asked a question How to ECHO an specific field of the link_states topic?

How can I echo the z position of the labrob::base_footprint link? I would like something like

/gazebo/link_states/pose/labrob::base_footprint/position/x

(but of course this doesn't work)

Here it's explained the LinkStates Message

If I run

rostopic echo /gazebo/link_states/pose

I obtain

name: ['ground_plane::link', 'labrob::base_footprint', 'labrob::back_left_wheel', 'labrob::back_right_wheel', 'labrob::front_left_wheel', 'labrob::front_right_wheel', 'labrob::medium_left_wheel', 'labrob::medium_right_wheel']
pose: 
  - 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  - 
    position: 
      x: 19.734147474
      y: 25.393300817
      z: 0.0383110518968
    orientation: 
      x: -6.13606284887e-05
      y: 6.86919744421e-05
      z: 0.999860588389
      w: -0.016697164527
  - 
    position: 
      x: 19.5695521394
      y: 25.527891231
      z: 0.1182724458
    orientation: 
      x: -0.637152382838
      y: -0.0105863910799
      z: 0.770556968083
      w: -0.0129123315291
  - 
    position: 
      x: 19.578901119
      y: 25.2480472907
      z: 0.118368859468
    orientation: 
      x: 0.216469163719
      y: 0.00354699809064
      z: -0.97614666114
      w: 0.0163161242046
  - 
    position: 
      x: 19.8893736569
      y: 25.5385759122
      z: 0.118310784466
    orientation: 
      x: -0.644692265729
      y: -0.0107127808459
      z: 0.764259826565
      w: -0.0128076670502
  - 
    position: 
      x: 19.8987227742
      y: 25.2587321974
      z: 0.11837054296
    orientation: 
      x: 0.216469164402
      y: 0.00354695690918
      z: -0.976146659959
      w: 0.0163161947405
  - 
    position: 
      x: 19.7278268087
      y: 25.5822062485
      z: 0.118371118222
    orientation: 
      x: 0.216469161475
      y: 0.00354713272186
      z: -0.976146662273
      w: 0.0163160568747
  - 
    position: 
      x: 19.7404481233
      y: 25.2044170258
      z: 0.118336182098
    orientation: 
      x: 0.2172151475
      y: 0.00369544833996
      z: 0.975980931984
      w: -0.0162832356155
twist: 
  - 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  - 
    linear: 
      x: 3.29022729574e-06
      y: -5.47510238611e-06
      z: 0.00200377570936
    angular: 
      x: 0.000130190813887
      y: -0.000169448396171
      z: -9.94671504206e-06
  - 
    linear: 
      x: -7.98659884176e-06
      y: -1.47794147006e-05
      z: 0.00200227739128
    angular: 
      x: 0.000127384257108
      y: -0.000166086758399
      z: -9.45221421533e-06
  - 
    linear: 
      x: -3.53599479883e-06
      y: -1.81146807339e-05
      z: 0.00914549857804
    angular: 
      x: 0.000158572383326
      y: -3.16478255242e-05
      z: -2.43400333972e-05
  - 
    linear: 
      x: -1.21134287765e-05
      y: -1.92963202921e-05
      z: 0.00202762801668
    angular: 
      x: 0.000142529614106
      y: -0.000261624018879
      z: -9.62157685716e-06
  - 
    linear: 
      x: -2.7242166671e-05
      y: -1.62340011632e-05
      z: 0.000446377301251
    angular: 
      x: 0.000138476462121
      y: -0.00023012316061
      z: -6.70005553614e-06
  - 
    linear: 
      x: -1.05123889964e-05
      y: -1.67367147569e-05
      z: 0.0018404737071
    angular: 
      x: 0.000145585572561
      y: -8.86791770795e-05
      z: -2.01875535345e-05
  - 
    linear: 
      x: -1.15325504036e-05
      y: -1.54345872713e-05
      z: 0.0021200843129
    angular: 
      x: 0.000136389414048
      y: -0.000182992891938
      z: -8.37950589888e-06

Thanks!!!

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2015-08-27 06:42:00 -0500 asked a question Rhex Simulation Not running: DSO undefined reference symbol

How can I make this project run property?

https://github.com/mugenZebra/CE216-project

I've done

cmake ../

and then I do

make

but I get this error:

image description

I've ROS Indigo

Thanks!!

2015-08-27 06:39:22 -0500 asked a question Rhex Simulation Not running: DSO undefined reference symbol

How can I make this project run property?

https://github.com/mugenZebra/CE216-project

I've done

cmake ../

and then I do

make

but I get this error:

image description

I've ROS Indigo

Thanks!!

2015-08-21 03:12:10 -0500 asked a question Unable convert Parameter type to other type Param.hh

How can I fix this problem?

image description

Thanks!!

2015-08-21 02:01:29 -0500 answered a question Error while loading gazebo

The most probable cause is that you have the gzclient or gzserver opened. Try with

killall gzserver

kilall gzclient

(and with ctrl+C in the terminal)

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2015-08-20 11:04:16 -0500 asked a question PUBLISHING IN DIFFERENTS TOPICS FOR EACH WHEELD

How can I (having a 6-wheeled robot and using the DiffDrivePlugin6w from hectorgazebo plugins) make that each wheel subscribes in a different topic: Now I've been able to make that all the wheels move at the same time (they are all "answering" to the cmdvel topic), but I'd like something like cmdvelfrontlefttopic,....

image description

Thanks!!

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2015-08-20 10:28:12 -0500 answered a question FILENAME WHEN USING DiffDrivePlugin6w hector_gazebo plugin

The filename is libdiffdriveplugin6w.so (you can see it when you do the catkin_make)