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2016-11-03 12:59:27 -0500 received badge  Enthusiast
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2016-10-12 23:50:43 -0500 asked a question animating only a single link

I have a robot that sits on tops of a box connected by a fixed joint. I would like to animate only the box but when I follow animate box tutorial and animate it, it does move the box correctly but the robot has an erratic behavior of joints getting disconnected.

It seems to try to move all links to that location or something like that. Is that correct? Is there a way to animate only a specific link and let the rest follow the law of physics? Or, should I use something else to achieve this?

(I am using ROS indigo and the version of gazebo that comes with it)

Thanks!

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2015-10-31 12:30:59 -0500 marked best answer ROS Groovy Gazebo cannot spawn objects

I am just trying to spawn objects and I have just copied two commands from tutorial: http://www.ros.org/wiki/simulatorgazebo/Tutorials/GazeboROSAPI Both give same exact errors. I have tried with multipe model files under gazeboworlds/objects/*.model but they all seems to give same errors below.

1.  rosrun gazebo spawn_model -file `rospack find gazebo_worlds`/objects/desk1.model -gazebo -model desk1 -x 0
2.  rosrun gazebo spawn_model -file `rospack find gazebo_worlds`/objects/000.580.67.model -gazebo -model cup -z 2

Warning [parser.cc:374] Gazebo SDF has no <gazebo> element in file[data-string]
[ERROR] [1358995976.958104948, 86.064000000]: Could not find the 'robot' element in the xml file
Error [parser_urdf.cc:1659] Unable to call parseURDF on robot model
Warning [parser.cc:374] Gazebo SDF has no <gazebo> element in file[urdf string]
Error [parser.cc:318] parse as old urdf model file failed.
Error [World.cc:1190] Unable to read sdf string

I am not able to spawn any objects that came with ROS Groovy. Are these model files outdated?

2015-10-31 12:30:57 -0500 marked best answer Gazebo PR2 getting stuck at launch

When I run empty world, everything seems to be fine.

roslaunch gazebo_worlds empty_world.launch

But when I instead try to bring up PR2 in gazebo, it gets stuck in both Fuerte and Groovy. (Update to Groovy since things were getting stuck but getting stuck the same way) This is running on Ubuntu 12.04. This is not working with lastest copy of Groovy on two different computers both running 12.04 64-bit. Also purging all ROS related stuff and reinstalling (Fuerte and Groovy) didn't help at all.

roslaunch pr2_gazebo pr2.launch

It gets stuck with following warnings. Please help!

process[robot_pose_ekf-17]: started with pid [18327]
process[base_hokuyo_node-18]: started with pid [18366]
process[tilt_hokuyo_node-19]: started with pid [18416]
process[tf2_buffer_server-20]: started with pid [18473]
[ WARN] [1357828826.779339967]: You've passed in true for auto_start for the C++ action server at [/tf2_buffer_server]. You should always pass in false to avoid race conditions.
process[camera_synchronizer_node-21]: started with pid [18498]
[ INFO] [1357828826.995402836]: Starting to spin camera_synchronizer at 100.000000 Hz...
process[default_controllers_spawner-22]: started with pid [18568]
process[r_gripper_controller/gripper_action_node-23]: started with pid [18570]
process[l_gripper_controller/gripper_action_node-24]: started with pid [18599]
process[head_traj_controller/point_head_action-25]: started with pid [18648]
process[torso_controller/position_joint_action_node-26]: started with pid [18695]
[ WARN] [1357828831.245960240]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.246159850]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.246197213]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.246220592]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828831.416542110]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.416826507]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.417022828]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.417143055]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828831.455619028]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828831.455817538]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828831.455872881]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828831.455923623]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.249665241]: The input topic '/wide_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.249748211]: The input topic '/wide_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.249790211]: The input topic '/wide_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828891.249831981]: The input topic '/wide_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.420719083]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.420869955]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.421049482]: The input topic '/narrow_stereo/right/image_raw' is not yet advertised
[ WARN] [1357828891.421141085]: The input topic '/narrow_stereo/right/camera_info' is not yet advertised
[ WARN] [1357828891.456356647]: The input topic '/narrow_stereo/left/image_raw' is not yet advertised
[ WARN] [1357828891.456442792]: The input topic '/narrow_stereo/left/camera_info' is not yet advertised
[ WARN] [1357828891.456691924]: The input topic '/narrow_stereo/right/image_raw' is not yet ...
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2015-10-31 12:05:43 -0500 marked best answer Gazebo object rearrangements

I often need to change between different object arrangements within Gazebo (within ROS).

What is a better practice? or more stable?

Change object pose through some ROS service?

Or, is it better to create a world file for each arrangement and relaunch Gazebo?

Or, does this not matter? Thanks

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2013-04-17 15:23:03 -0500 commented answer COLLADA Mesh vs Box behavior difference

That seems like lots of work. I need a workaround in Fuerte. Do you know if messing with number of polygons will affect the behavior? (as mentioned by @iche033 above in the comment?)

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2013-04-16 07:10:49 -0500 commented question COLLADA Mesh vs Box behavior difference

Not too familiar with collada mesh. it was exported from sketchup. It appears as flat box in sketchup. Actually, visualizing in meshlab shows only two polygons for the surface.

2013-04-14 08:19:34 -0500 asked a question COLLADA Mesh vs Box behavior difference

I am currently using Fuerte-Gazebo (Gazebo-1.0.2).

Given same exact values under <collision> <surface>. (literally all values are same including size) 1. simple box collada mesh 2. box from gazebo UI

They behave differently when I put a bowl/can on it. On collada model, it sort of bounces and jumps out. (even though all collision values are same) But on a same size box, objects will soon settle down.

What is causing behavior difference? Is there anything other than <collision> <surface> that plays the role?

Here are the values I copied from box generated from Gazebo client.

      <surface>
        <friction>
          <ode mu='2147483647.0' mu2='2147483647.0' fdir1='0.0 0.0 0.0' slip1='0.0' slip2='0.0'/>
        </friction>
        <bounce restitution_coefficient='0.0' threshold='1000000.0'/>
        <contact>
          <ode soft_cfm='0.0' soft_erp='0.20' kp='2147483647.0' kd='1.00' max_vel='5.00' min_depth='0.00'/>
        </contact>
      </surface>
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2013-02-27 21:35:54 -0500 asked a question Gazebo ROS Fuerte PR2 Reset

I mainly use PR2 in ROS Fuerte with Gazebo. However, whenever something goes wrong, I don't seem to have a reliable way of resetting world/robot. (I haven't tested in Groovy or standalone version.)

Whenever I reset Gazebo by "reset model poses" or "reset world", robot will start sliding in one direction.

Everything is fine when I relaunch Gazebo but that is lots of overhead especially on slower machines.

Is there some other way of reliably resetting to the original state? Or, it it a known issue? Thanks!

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2013-02-07 16:05:01 -0500 asked a question ROS Groovy with Gazebo standalone

@nkoenig has mentioned that in my previous question that I can use standalone Gazebo with ROS Groovy..

So, I am curious how it can be done because I want to use the latest version of Gazebo.. In ROS, I have been launching PR2 in Gazebo by

roslaunch pr2_gazebo pr2_emptyworld.launch

If I want to do the same with Gazebo standalone, how can I have the same thing happen? Obviously, first I launch Gazebo by simply

gazebo

And then, how do I bring up PR2 and ROS?

Thanks!

2013-02-07 13:18:52 -0500 commented question ROS gazebo sometimes crashing at launch (Groovy)

Ok.. could you point me to how I can launch Gazebo standalone version and then connect it to ROS? Do I just launch "roslaunch pr2gazebo pr2empty_world.launch" after I launch Gazebo standalone?

2013-02-07 11:49:33 -0500 commented question ROS gazebo sometimes crashing at launch (Groovy)

But if I want to use Gazebo with ROS, I need to use one in Groovy not standalone.. correct? (until the H-version of ROS)

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2013-02-06 20:49:18 -0500 asked a question ROS gazebo sometimes crashing at launch (Groovy)

Two out of three times, it crashes at launch. So eventually I can launch gazebo after few tries but still not a desirable experience. Can someone take a look and check there is some bug/race condition? Or, is this known problem?

Program received signal SIGSEGV, Segmentation fault.
0x00007fffef2141e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4

(gdb) bt
#0  0x00007fffef2141e3 in Ogre::TexturePtr::operator=(Ogre::TexturePtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#1  0x00007fffef4403e5 in Ogre::TextureUnitState::ensurePrepared(unsigned long) const ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#2  0x00007fffef4405d3 in Ogre::TextureUnitState::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#3  0x00007fffef31e66c in Ogre::Pass::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#4  0x00007fffef43299c in Ogre::Technique::_prepare() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#5  0x00007fffef29eef4 in Ogre::Material::prepareImpl() () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#6  0x00007fffef3635da in Ogre::Resource::load(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#7  0x00007fffef231b25 in Ogre::Entity::reevaluateVertexProcessing() ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#8  0x00007fffef2354bd in Ogre::Entity::_initialise(bool) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#9  0x00007fffef236121 in Ogre::Entity::Entity(std::string const&, Ogre::MeshPtr const&) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#10 0x00007fffef23667d in Ogre::EntityFactory::createInstanceImpl(std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#11 0x00007fffef2f2ba1 in Ogre::MovableObjectFactory::createInstance(std::string const&, Ogre::SceneManager*, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) ()
   from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#12 0x00007fffef3a918d in Ogre::SceneManager::createMovableObject(std::string const&, std::string const&, std::map<std::string, std::string, std::less<std::string>, Ogre::STLAllocator<std::pair<std::string const, std::string>, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#13 0x00007fffef3a5c18 in Ogre::SceneManager::createEntity(std::string const&, std::string const&, std::string const&) () from /usr/lib/x86_64-linux-gnu/libOgreMain.so.1.7.4
#14 0x00007ffff3223519 in gazebo::rendering::Light::CreateVisual() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#15 0x00007ffff322688e in gazebo::rendering::Light::Load() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#16 0x00007ffff3226ab9 in gazebo::rendering::Light::LoadFromMsg(boost::shared_ptr<gazebo::msgs::Light const> const&) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#17 0x00007ffff325be42 in gazebo::rendering::Scene::ProcessLightMsg(boost::shared_ptr<gazebo::msgs::Light const> const&) () from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#18 0x00007ffff325c2a0 in gazebo::rendering::Scene::PreRender() ()
   from /opt/ros/groovy/stacks/simulator_gazebo/gazebo/gazebo/lib/libgazebo_rendering.so.1
#19 0x00007ffff708ea8e ...
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