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| 2016-05-05 09:37:05 -0500 | commented question | Virtual Machine not launching Gazebo Yes it runs with no issues (I attached the output to the question itself). |
| 2016-05-04 15:29:23 -0500 | asked a question | Virtual Machine not launching Gazebo I am using the beta version of ROS as well as Ubuntu 16.04. When attempting to launch gazebo I get the following error: mroscoe@ubuntu:~$ gazebo
VMware: vmw_ioctl_command error Invalid argument.
I have checked online and cannot find a solution and was hoping someone here may have run into it and knows how to work around it. Results from running GLXGEARS: mroscoe@ubuntu:~$ glxgears
6223 frames in 5.0 seconds = 1244.564 FPS
4971 frames in 5.0 seconds = 993.205 FPS
6041 frames in 5.0 seconds = 1208.158 FPS
5833 frames in 5.0 seconds = 1166.566 FPS
5299 frames in 5.0 seconds = 1059.721 FPS
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| 2015-12-29 22:39:43 -0500 | asked a question | Using a .dae file as the ground plane I am looking to import or use a dae or other "common" 3D file format as a ground plane in gazebo. I am not sure how to go about this and what formats that gazebo will accept. I have seen a tutorial on using a "dem" file as a heightmap but I am unable to get my data into this format. Any help you could provide would be very appreciated. Thanks,
badrobit |
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| 2015-12-10 14:45:55 -0500 | asked a question | Robot spawns upside down When loading a robot model in gazebo from ROS and URDF the robot always spawns upside down and I am unable to figure out why. The URDF is included below: wheel.urdf:
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="juno_wheel"> <xacro:macro name="juno_wheel" params="wheel_prefix wheel_parent *joint_pose">
<link name="${wheel_prefix}_wheel_link">
<inertial>
<mass value="${wheel_mass}" />
<origin xyz="0 0 0" />
<inertia ixx="0.000175" ixy="0.000000" ixz="0.000110" iyy="0.000000" iyz="0.000000" izz="0.000110" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://juno_description/meshes/wheel/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${wheel_radius}" radius="${wheel_width}" />
</geometry>
</collision>
</link>
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="${wheel_prefix}_wheel" type="continuous">
<parent link="${wheel_parent}"/>
<child link="${wheel_prefix}_wheel_link"/>
<xacro:insert_block name="joint_pose"/>
<axis xyz="1 0 0" rpy="0 0 0" />
</joint>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>
base.urdf
<robot name="juno_rover" xmlns:xacro="http://ros.org/wiki/xacro"> <xacro:include filename="$(find juno_description)/urdf/wheel.urdf.xacro" />
<property name="M_PI" value="3.1415926535897931" />
<!-- Simplified Collision Geometry for the Base -->
<property name="base_size_x" value="1.420"/>
<property name="base_size_y" value="1.620"/>
<property name="base_size_z" value="0.420"/>
<property name="base_mass" value="160.000"/>
<property name="base_height_offset" value="0.200"/>
<!-- Simplified Collusion Geometry for the Wheels -->
<property name="wheel_radius" value="0.31"/>
<property name="wheel_width" value="0.26"/>
<property name="wheel_mass" value="9.000"/>
<!-- Offset for the wheel motors from the root rover frame -->
<property name="caster_offset_x" value="0.5"/>
<property name="caster_offset_y" value="0.2"/>
<property name="caster_offset_z" value="0.00"/>
<!-- wheel offsets -->
<property name="wheel_offset_x" value="0.0"/>
<property name="wheel_offset_y" value="0.0"/>
<property name="wheel_offset_z" value="0.0"/>
<xacro:macro name="juno_base" params="name">
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://juno_description/meshes/base/base.dae"/>
</geometry>
</visual>
</link>
<link name="inertial_link">
<inertial>
<mass value="${base_mass}"/>
<origin xyz="0 0 0.6"/>
<inertia ixx="0.018276" ixy="0.000041" ixz="0.000065" iyy="0.001884" iyz="-0.000331" izz="0.035991"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<joint name="${name}_footprint_joint" type="fixed">
<origin xyz="0 0 -0.6" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<!-- JUNO wheel macros -->
<xacro ...
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