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2020-12-02 11:46:21 -0500 commented answer Name-Dependent Plugin Topics

I received an email about this answer recently over confusion on what to change. The relevant values are in https://gith

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2013-01-28 13:51:19 -0500 asked a question hector_quadrotor not responding to cmd_vel

I'm using the hector_quadrotor package, and tyring to simulate in gazebo. The simulated bot does not respond to commands over cmd_vel, from command line (rostopic pub), from a custom keyboard teleop node, or even from rosrun hector_quadrotor_controller test_trajectory.

I'm launching gazebo and spawning the drone using

$ roslaunch hector_gazebo_worlds rolling_landscape_120m.launch
$ roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch

I'm sure it's something simple I'm overlooking, but help would be appreciated!

Further tests show that cmd_vel does nothing with

$ roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
$ rosrun hector_quadrotor_controller test_trajectory


2013-01-18 13:35:10 -0500 answered a question Name-Dependent Plugin Topics

Figured it out: tum_simulator hardcodes some paths as absolute. Removing the leading '/' from relevant topics (/ardrone/takeoff, /ardrone/land, /ardrone/reset, etc) in the cvg_sim_gazebo_plugins package fixed it up.

2013-01-17 12:42:34 -0500 asked a question Name-Dependent Plugin Topics

I'm trying to simulate multiple (2) AR.Drone Parrot quatrotors in gazebo. I'm using the tum_simulator package, which in turn presents the same interface as the ardrone_autonomy driver for the real-world drones. I can spawn a single drone without error, and fly it around programmatically with roscpp. I can also spawn multiple drones without error by duplicating the launch code and surrounding it with <group ns="drone{0,1}"> tags. After manipulating some tf parameters, the drones spawn without error.

The simulator subscribes to properly namespaced topics, for the most part. For example, instead of /cmd_vel, there are now two topics /drone0/cmd_vel and /drone1/cmd_vel. However, topics to control takeoff and landing are hardcoded in a gazebo plugin as /ardrone/{takeoff,landing,reset}, and rxgraph shows that these topics are not duplicated between namespaces, they remain prefixed only by /ardrone.

How is it possible to have the plugin offer namespaced topics that are linked up to each drone?