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2017-02-22 03:41:23 -0500 commented answer Which SDFormat corresponds to version of Gazebo

On http://sdformat.org/ there should be a table comparing Gazebo version to SDFormat verison like there is on gazebosim.org. Maybe a link to more details (the ones you just provided here). Where can I open a ticket for this documentation request?

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2017-02-20 18:47:04 -0500 commented answer ros::init() needed for ROS Gazebo plugin?

ive updated the link, thanks

2017-02-20 18:46:39 -0500 edited answer ros::init() needed for ROS Gazebo plugin?

The recommended way to check for ROS being initialized for all Gazebo plugins has been documented in this tutorial.

2017-02-20 18:38:42 -0500 commented question Which SDFormat corresponds to version of Gazebo

How can we improve this for others?

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2017-02-16 03:40:13 -0500 asked a question Understanding link property self_collide

I would like to make Baxter in Gazebo7 check for self-collisions. I have migrated the SDF property tag from the old selfCollide to self_collide for various links, but it does not seem to check for self collision.

If I set self_collide to true for the entire model, Baxter convulses because of links that are always in collision. I tried this approach using the URDF tag:

  <gazebo reference="">

If I set the self_collide to true for two consecuitive links that are connected with a fixed joint, I get the warning:

Warning [parser_urdf.cc:1232] multiple inconsistent <self_collide> exists due to fixed joint reduction overwriting previous value [true] with [false].

If I only set self_collide to true for links that are not fixed, I still do not see the links "colliding" in simulation when I run them into each other. Part of this XML looks like:

  <gazebo reference="right_upper_shoulder">
  <gazebo reference="right_lower_shoulder">
  <gazebo reference="right_upper_elbow">
  <gazebo reference="right_lower_elbow">
  <gazebo reference="right_upper_forearm">
  <gazebo reference="right_lower_forearm">

Also, in the Gazebo GUI, the checkbox under the link proprety for self collide is disabled, why can't I toggle this property at run time?

Thanks for the clarification!

2017-02-16 01:13:38 -0500 asked a question Which SDFormat corresponds to version of Gazebo

I've searched around and its not clear which version of the SDF spec (1.4-1.6) corresponds to Gazebo7, etc. My Ubuntu 16.04 package manager says I have SDFormat4 install, further confusing me. Why isn't the binary release matching the spec version?

From the Gazebo changelog, it seems Gazebo7 uses 1.6, but its not 100% clear. Perhaps this can be added to the documentation/website somewhere?

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2015-12-17 11:08:01 -0500 commented question Older version of protoc which is incompatible with your Protocol Buffer headers

It was caused by different versions of protoc being installed on my system. I tried to manually remove them but there seemed to be some files that were still causing protoc to segfault. In the end I reinstalled my entire Ubuntu machine and it worked fine after that.

2015-12-08 15:33:57 -0500 commented answer "This file was generated by an older version of protoc" while following Gazebo tutorial.

after testing the same build on a different Ubuntu computer, I've concluded that something upgraded my protobuf protoc versions in /usr/local space. I tried to delete all the newer files and reinstall the old version, but there is some unknown file that is still causing protoc to crash. I've decided to just reformat my year old Ubuntu, it could use a refresher anyway.

2015-12-07 14:15:49 -0500 asked a question Older version of protoc which is incompatible with your Protocol Buffer headers

I'm trying to install gazebo_ros_pkgs on ROS Indigo with the debian version of Gazebo 2.2. However, I'm getting lots of error due to mismatched protobuf header versions:

This file was generated by an older version of protoc which is incompatible with your Protocol Buffer headers

I'm using libprotobuf 2.5.0-9, the latest in Ubuntu 14.04. I've googled and tried lots of things but can't get the versions to match. Any insights on how to do this without installing Gazebo from source?


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2015-10-31 12:30:17 -0500 marked best answer DRCSim + Precise + Hydro + roslaunch

I have Gazebo 3.0, gazebo_ros_pkgs-current, and the default branch of drcsim all compiling from source successfully with ROS Hydro and Ubuntu Precise. Now when I run

roslaunch drcsim_gazebo atlas.launch

I get a lot of errors in the terminal:

[atlasrobotstatepublisher-3] process has died [pid 3701, exit code -11, cmd /opt/ros/hydro/lib/robotstatepublisher/statepublisher jointstates:=/atlas/jointstates _name:=atlasrobotstatepublisher _log:=/home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/atlasrobotstatepublisher-3.log]. log file: /home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/atlasrobotstate_publisher-3*.log

[multisenseslrobotstatepublisher-4] process has died [pid 3714, exit code -11, cmd /opt/ros/hydro/lib/robotstatepublisher/statepublisher jointstates:=/multisensesl/jointstates _name:=multisenseslrobotstatepublisher _log:=/home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisenseslrobotstatepublisher-4.log]. log file: /home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisenseslrobotstatepublisher-4*.log

[tf2bufferserver-5] process has died [pid 3730, exit code -11, cmd /opt/ros/hydro/lib/tf2ros/bufferserver _name:=tf2bufferserver _log:=/home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/tf2bufferserver-5.log]. log file: /home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/tf2bufferserver-5*.log

[multisensesl/stereoproc-6] process has died [pid 3747, exit code -11, cmd /opt/ros/hydro/lib/stereoimageproc/stereoimageproc _name:=stereoproc _log:=/home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisensesl-stereoproc-6.log]. log file: /home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisensesl-stereo_proc-6*.log

[multisensesl/camera/stereoprocsimulationrelay-13] process has died [pid 4155, exit code -11, cmd /opt/ros/hydro/lib/stereoimageproc/stereoimageproc _name:=stereoprocsimulationrelay _log:=/home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisensesl-camera-stereoprocsimulationrelay-13.log]. log file: /home/dave/.ros/log/40b7e942-82ec-11e3-904a-d43d7e05aeaf/multisensesl-camera-stereoprocsimulation_relay-13*.log

Has DRCSim been tested with Hydro yet? What am I doing wrong? Thanks!

2015-10-31 12:30:14 -0500 marked best answer DRCSim + Precise + Hydro

I'd like to use Atlas in Gazebo with ROS Hydro and Ubuntu 12.04. I have gazebo-current 2.2.1-1 installed from debian and Hydro installed from debian. Next I tried to install DRCSim from source loosely following the Groovy instructions by making a new catkin workspace and cloning

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 compile, I get the error:

/home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp: In member function ‘void IRobotHandPlugin::UpdatePIDControl(double)’: /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp:284:32: error: ‘class gazebo::physics::Joint’ has no member named ‘SetUpperLimit’ /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp: In member function ‘void IRobotHandPlugin::SetJointSpringDamper()’: /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp:649:15: error: ‘class gazebo::physics::Joint’ has no member named ‘SetStiffnessDamping’ /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp:666:15: error: ‘class gazebo::physics::Joint’ has no member named ‘SetStiffnessDamping’ /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp:679:12: error: ‘class gazebo::physics::Joint’ has no member named ‘SetStiffnessDamping’ /home/dave/ros/wsatlas/src/drcsim/drcsimgazeborosplugins/src/IRobotHandPlugin.cpp:693:12: error: ‘class gazebo::physics::Joint’ has no member named ‘SetStiffnessDamping’ make[2]: * [drcsim/drcsim_gazebo_ros_plugins/CMakeFiles/IRobotHandPlugin.dir/src/IRobotHandPlugin.cpp.o] Error 1 make[1]: * [drcsim/drcsimgazeboros_plugins/CMakeFiles/IRobotHandPlugin.dir/all] Error 2

It seems its looking for a different version of Gazebo?



I'm now on default branch for Gazebo and am compiling from source. While running make I get:

/home/dave/ros/ws_gazebo/gazebo/interfaces/player/player.h:22:38: fatal error: libplayercore/playercore.h: No such file or directory

I have libplayercore3.0-dev installed, not sure whats going on.


There does not appear to be a -I/usr/include/player3.0 when I compile. I do have the file:


The compile flags are:

cd /home/dave/ros/ws_gazebo/gazebo/build/gazebo/gui && /usr/bin/c++   -Dgazebo_gui_EXPORTS -DLIBBULLET_VERSION=0.0 -DQT_GUI_LIB -DQT_CORE_LIB -DQT_NO_DEBUG -g -O2 -mssse3 -msse3 -mfpmath=sse -msse -msse2  -Wall -Wextra -Wno-long-long

-Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -g -O2 -mssse3 -msse3 -mfpmath=sse -msse -msse2 -fPIC
-I/home/dave/ros/wsgazebo/gazebo/test/gtest/include -I/home/dave/ros/wsgazebo/gazebo -I/home/dave/ros/wsgazebo/gazebo/build -I/home/dave/ros/wsgazebo/gazebo/deps -isystem /usr/include/OGRE/RTShaderSystem -isystem /usr/include/OGRE
-isystem /usr/include/OGRE/Terrain -isystem /usr/include/OGRE/Paging -isystem /usr/include/sdformat-1.4 -I/usr/include/qt4 -I/usr/include/qt4/QtGui -I/usr/include/qt4/QtCore -fPIC -o
CMakeFiles/gazebogui.dir/mocJointControlWidget.cxx.o -c /home/dave/ros/wsgazebo/gazebo/build/gazebo/gui/mocJointControlWidget.cxx

2015-10-31 12:30:10 -0500 marked best answer Joint Controller Plugin for Gazebo


I'm looking for a Gazebo 1.3 plugin that will allow me to send joint commands to my simulated robot arm described in SDF format. Does something like this already exist? The closest thing I've found for Gazebo 1.3 is the "gazebo pid joints" tutorial, but it is a very limited demo and I would need to put in a lot of work to make it into a fully ROS-ready controller for multiple joints. This Controller would be ideal except it has not been ported to the new SDF format and Gazebo version. Its source code is here. This must have already been done though, so I don't want to re-invent the wheel.


2015-10-31 12:12:53 -0500 marked best answer Feature Request: Gazebo Version Number in Help -> About

The pop-up About dialog window should have the version number included there, to make debugging and usage easier. This is standard in most all applications.

2015-10-31 12:12:07 -0500 marked best answer When will Gazebo be catkin-ized in ROS?

In ROS Groovy, the Gazebo debian is still currently using rosbuild, and the Gazebo installation instructions say that ROS users should not install from source. Additionally, Gazebo for ROS is still on version 1.2 instead of 1.3. The reason I need Gazebo to be catkinized is because I tried following your animate joint tutorial and CMake can't find Gazebo. I assume that is because Gazebo on my computer is installed here:


I tried sourcing the setup.sh in the above folder but it didn't help CMake. I also tried catkinizing the animate joint tutorial but realized it wouldn't work because Gazebo is still a dry package.

2015-10-31 12:11:44 -0500 marked best answer Gazebo's Fuerte Dependencies Causing Groovy Issues

I am using ROS Groovy but have Gazebo 1.3 and its Fuerte dependencies installed as well. I believe the urdfdom package is having issues because of having both the Fuerte and Groovy versions installed. It is throwing errors such as:

ERROR ros.rosconsolebridge.consolebridge: Material [Brown] color has no rgba ERROR ros.rosconsolebridge.consolebridge: Material [Brown] not defined in file

But when I remove Gazebo and Fuerte dependencies, this error goes away.

When can we expect a stand alone version of Gazebo that depends on Groovy instead? Thanks!

Original, Related Question

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2015-01-10 18:26:01 -0500 commented answer gazebo(os x 10.9): No valid hardware interface element found in joint
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2014-12-02 12:56:43 -0500 asked a question www.sdformat.org website incorrect

On my computer:

http://sdformat.org/ points to the correct SDF website

http://www.sdformat.org/ points to the Gazebo website

Looks like some DNS servers are misconfiguration... or is it just my computer?

2014-08-14 02:09:51 -0500 answered a question Publishing JointStates in ROS with Gazebo

Do you have a .yaml file that you load with the controller manager that includes:

  type: joint_state_controller/JointStateController
  publish_rate: 50


In my launch file for Baxter I have:

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find baxter_control)/config/gazebo_controllers.yaml" command="load"/>

<!-- load the default controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
      output="screen" ns="/robot" args="joint_state_controller                                                                                            
                                        " />

I haven't worked with Gazebo / ros_control in a while though, so my memory is hazy.