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2017-10-24 14:27:20 -0600 received badge  Great Question (source)
2015-10-31 12:31:03 -0600 marked best answer Documentation for URDF2Gazebo parser in gzsdf

The URDF2Gazebo parser used by gzsdf for converting URDFs to SDFs is a great tool, but currently hard to use due to the lack of documentation.

For example, I can add a ray sensor in URDF with the code below:

  <gazebo reference="cliff_sensor_right_link">
    <sensor:ray name="cliff_sensor_right">
      <alwaysActive>true</alwaysActive>
      <rayCount>50</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>1.0</resRange>
      <minAngle>-0.04361</minAngle>
      <maxAngle>0.04361</maxAngle>
      <minRange>0.01</minRange>
      <maxRange>0.15</maxRange>
      <displayRays>true</displayRays>
    </sensor:ray>
  </gazebo>

However, I couldn't find information about how this translates to SDF and what options there are in general (except checking the files by hand) .

Is there any documentation out there (wiki, API etc.)?

I was only able to locate the source code here on Bitbucket.

2015-05-10 23:21:52 -0600 marked best answer Recommended way of using Gazebo with ROS Groovy

Hi Simulators!

I'm trying to get my robot simulation working with Gazebo (currently 1.2.5) in ROS Groovy.

After I checked the ROS wiki, the Gazebosim docs and the Q&A here, I'm still confused what the actual recommended way of using Gazebo with ROS Groovy is.

More precisely:

  • Which version(s) of Gazebo will be supported in/is recommended for Groovy?
  • Do I have to start maintaining an extra SDF description of my robot? (If yes, is/will SDF supported in other parts of ROS, e.g. robot state publisher?)
  • Are there Tutorials available for ROS users to get quickly up to speed?

There is already some related documentation out there, such as installation instructions and tutorials with notes regarding ROS. So, it might be sufficient to put a brief note somewhere to point ROS users like me in the right direction (linking to the recommended installation instructions and tutorials).

Thanks for your help!

2015-04-07 05:04:19 -0600 commented answer Is there a Gazebo plugin that simulates sonar and infrared sensors?

"If you find it useful, we could maybe consider moving it upstream."

2015-04-07 05:04:02 -0600 commented answer Is there a Gazebo plugin that simulates sonar and infrared sensors?

"If you find it useful, we could maybe consider moving it upstream." We do. Will follow up on the github issue.

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2013-09-25 00:29:01 -0600 commented question turtlebot_gazebo world not loading models
2013-09-25 00:24:13 -0600 commented question turtlebot_gazebo world not loading models

We had the same issue here in our lab. It can be solved by manually adding those missing models from the online database to the world. The next time Gazebo is started the models are loaded correctly. However, this can't be the right way to do it. We have ticketed that problem here: https://github.com/turtlebot/turtlebot_simulator/issues/17

2013-09-11 18:22:18 -0600 commented question Validation between simulation and the real world

So, what is your question? For Q&As in general specific questions usually yield a better result in terms of the number and quality of answers.

2013-07-29 18:54:32 -0600 answered a question Robot-Plugin is Loaded again when spawning another Robot

(In my opinion) This is suppose to happen. How else do you want to control your robot in the simulation, if its controller is not loaded?

I ran into the same issue and solved it - as @Nevik already suggested - by alternating model and topic names. (At least that was true some versions ago.)

2013-07-28 19:44:36 -0600 commented answer ros::init() needed for ROS Gazebo plugin?

This contains useful background information. Thanks!

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2013-07-22 22:06:00 -0600 commented answer installing gazebo_ros_pkgs for groovy

@Zeyn please use comments and/or add updates to your initial questions. Posting additional questions as answer will only confuse other viewers. Thank you!

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2013-06-13 19:13:31 -0600 commented answer Linking problem when compiling from source

OK, I went over the [instructions](http://gazebosim.org/wiki/1.6/install#Compiling_From_Source) again and saw that it is actually listed. However, it is missing when using the default. I may just be a matter of correcting those instructions. Thanks for your help!

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2013-06-12 03:17:54 -0600 marked best answer ros::init() needed for ROS Gazebo plugin?

After reading this thread on the Gazebo-list about plugins residing inside the Gazebo ROS node, I found out that my plugin is running fine without the ros::init() call.

The tutorials (e.g. here for 1.3) however make use of this initialisation. So now I wonder, if it is necessary or not?

Since, the plugin is loaded into the Gazebo node, it would make sense to me, that ros::init is not needed (similar to nodelets in ROS).

2013-06-11 19:49:42 -0600 asked a question Linking problem when compiling from source

Hi there!

I'm not sure what's going on, but when compiling Gazebo from source (default), the gazebo executable is missing some shared libraries.

$ gazebo
    gazebo: error while loading shared libraries: libgazebo_common.so.1: cannot open shared object file: No such file or directory

$ ldd /usr/local/bin/gazebo
    linux-vdso.so.1 =>  (0x00007fffdcd04000)
    libgazebo_common.so.1 => not found
    libgazebo_util.so.1 => not found
    libgazebo_sdf_interface.so.1 => not found
    libgazebo_transport.so.1 => not found
    libgazebo_physics.so.1 => not found
    libgazebo_sensors.so.1 => not found
    libgazebo_msgs.so.1 => not found
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fb95ff5a000)
    libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007fb95fd2c000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fb95fb28000)
    libprotobuf.so.7 => /usr/lib/libprotobuf.so.7 (0x00007fb95f839000)
    libgazebo_math.so.1 => not found
    libboost_thread.so.1.46.1 => /usr/lib/libboost_thread.so.1.46.1 (0x00007fb95f61f000)
    libboost_system.so.1.46.1 => /usr/lib/libboost_system.so.1.46.1 (0x00007fb95f41b000)
    libboost_program_options.so.1.46.1 => /usr/lib/libboost_program_options.so.1.46.1 (0x00007fb95f1b5000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fb95eeb5000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fb95ec9f000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fb95e8df000)
    /lib64/ld-linux-x86-64.so.2 (0x00007fb9601ac000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fb95e6c8000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fb95e3cc000)

I can get Gazebo running after adding /usr/local/lib to the LD_LIBRARY_PATH, but I have the feeling, that shouldn't be necessary.

Any idea what's wrong?

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2013-04-03 01:16:21 -0600 marked best answer Weird texture mapping in Collada meshes (1.3.0)

Hi there!

I'm trying to get our Collada mesh properly visualised in Gazebo. After fixing the units, the mesh itself is correctly shown. However, the texture (a JPG file) is not correctly mapped onto the mesh.

The mesh + texture is properly visualised in MeshLab and RViz. I also tried loading my model via both URDF and SDF to make sure, this is not a problem of the URDF parser.

Here is a screenshot of both RViz and Gazebo visualisation: gazebo-collada-mesh-problem.png

Does anybody have an idea what's going wrong?

I found some similar looking bugs filled for Gazebo, but I'm not sure they are about the same problem. If there is already a bug filled for this, please let me know about it, so I can keep track of it.

/edit:

I just received a comment from another Gazebo user, who has a similar looking issue:

I cannot comment your post because I have karma 1, but we have the same problems with textures since Gazebo 1.0. Up to the version bundled with ROS Electric everything worked just fine, then in 1.3 we get a marble-like texture very similar to yours, and in 1.4 textures are simply not shown. All other Collada viewers that we've tried (Blender, AssimpView, MeshLab, rviz) render the color maps correctly. Now that we know that with 1.4 it still does not work, we were also about to post a question. You beat us to it :). I'm attaching a picture of how things look like up to Gazebo 1.3 and Rviz.

Relevant package: http://www.ros.org/wiki/reem_description

And here is his picture: reem-gazebo-rviz.png

We thank for your help!

/edit #2:

Regarding iche's request:

My screenshot shows Kobuki (the mobile base for TurtleBot 2) and its meshes can be download from Github: https://github.com/yujinrobot/kobuki_description

/edit #3: The answer is buried in the comments, so I'm adding it here as well: @iche033 was right. The meshes look fine using Gazebo 1.5.

2013-04-03 01:15:38 -0600 commented answer Weird texture mapping in Collada meshes (1.3.0)

Finally got around to test this. @iche033 is right, the meshes look fine using Gazebo 1.5. Thanks for testing!

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2013-03-11 20:59:33 -0600 commented answer Weird texture mapping in Collada meshes (1.3.0)

Thanks @iche033! I'm eagerly awaiting the release of 1.5 for testing! Will report the results.

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2013-03-08 04:46:26 -0600 commented answer how to solve these errors :[ModelDatabase.cc:290]

Am I assuming right that the update to 1.5 for ROS Groovy users will solve this issue?

2013-03-08 04:44:03 -0600 commented answer ros::init() needed for ROS Gazebo plugin?

You should have posted this as an answer. :-) Anyway, if I remove all plugins I am using, Gazebo is still showing up as a ROS node and is publishing/subscribing to topics. AFAIK this requires a ros::init(). Am I missing something?

2013-03-08 04:04:13 -0600 commented answer ros::init() needed for ROS Gazebo plugin?

Right, but the question is, if it is needed. My plugin for example has subs & pubs, but since it is loaded into gazebo, which is also acting as a ROS node, it works fine without calling ros::init(). So, I wonder in which case it is actually needed.

2013-03-08 04:00:18 -0600 marked best answer Reduce karma required for commenting

New users start with 1 karma point, which means that they can't post comments right away. This leads to "comment answers", because new users have no other choice. We have this issue already over at ROS Answers (see here) and it is starting here as well.

I also found out that on AskBot's Q&A this limit is set to 1 (see here).

Hence, I suggest we lower it to 1 as well.

2013-03-08 04:00:18 -0600 edited answer Reduce karma required for commenting

Just posting this answer to close the question. @nkoenig has reduced the karma to one as suggested. Thanks!