Brosseau.F's profile - activity

Hello everybody,

I want to do some automatic test with Gazebo on a cloud machine.

Probem is : first start of Gazebo is too long and make test fail

Is there a way to avoid this behavior ? (Is there a way of avoiding contact with model repository ?)

And also is there a way to know if Gazebo has already been launched ?

GUI Joints PIDs vs JointController PIDs Hello everyone, I have a little question about the right panel on the GUI. It's

Hello everybody,

I am trying to spawn a robot made in URDF in Gazebo 6 but I have the following problem.

At the beginning the robot seems ok but after a few seconds all the links seems to be placed at the origin of the world and I have the following message :

Error [Param.cc:462] Unable to set value [-inf -inf -inf 1.44116 -0.993549 1.9651] for key[pose]

Is there a problem with the way I use to set link's positions of my robot ?

I am using origin tag in my joints to place the several links of the robots :

<joint name="body_arch_fixed" type="revolute">
    <parent link="body"/>
    <child link="arch"/>
    <origin xyz="0.11105 0 1.4498" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit upper="0" lower="0" effort="10" velocity="10"/>
</joint>

Thanks in advance

There was some advices here : http://gazebosim.org/blog/newsletter_2

As said in one of the tutorials, it seems that SetVelocity need to be set at each iteration step. You can try to directl

Yes it can be the name you want. You have to replace all the parameters with the value that you want. This part of urdf

You need to set a gazebo tag in your urdf file. For example, if I have a link safety_lidar to represent my sensor, I wi

Do you have any error message or warning messages in the console you are using to launch gazebo ? You can also have mor

You need to set a gazebo tag in your urdf file. For example, if I have a link safety_lidar to represent my sensor, I wi

You may try to add a collision tag with low (or 0) value or you can try to set your link to be kinematic (http://sdform

It's not because you didn't put a collision tag that there is no friction. According to this : http://sdformat.org/spec?

I'm not sure that I completely understand your situation. But if you are importing your cylinders with the mesh tag for

I suggest you to take a look at this tutorial : http://gazebosim.org/tutorials?tut=set_velocity#SetVelocityInstantaneou

Yes I have a model like this. A car with several trailers. Not sure if I manage to really match the reality but you wi

I think that the name in the collision tag of the sensor is wrong. Instead of collision_layer_collision_collision try c

Workaround: I made a plugin to apply speed to the base link of my robot. This plugin will also set links (which are no

I manage to make the workaround work. In my plugin, I use the SetKinematic method on the fake link (only on the fake li

Sometimes object exported from blender are not visible (or some of their faces). To see if the problem is due to that,

In the c++ api of gazebo, there is a SetScale method for the "Link" class. I suppose that it should do what you want. (t

In the c++ api of gazebo, there is a SetScale function for the "Link" class. I suppose that it should do what you want.

I started with the diff_drive_plugin but as I am using custom messages for the car command I have changed it a lot. Ga

Car with front wheel drive Hi everyone, I'm trying to simulate a car with a front wheel drive (and a front steering sys

Sometimes object exported from blender are not visible (or some of their faces). To see if the problem is due to that,

Sometimes object exported from blender are not visible (or some of their faces). To see if the problem is due to that, y

Car with front wheel drive Hi everyone, I'm trying to simulate a car with a front wheel drive (and a front steering sys

It's late to answer that but for the ones who have troubles using the different way of controlling a joint, there is now

Hello everybody,

So I am moving an heavy link (some tons) using SetForce(math::vector3) function. And this is working.

But I would like speed of my link to decrease when I am sending a (0,0,0) value to setForce.

I have already tried to increase mu and mu2 parameters (10000 for each) but it doesn't work.

Should I try to set up friction parameters in a better way (increasing them) or just reduce the mass of my link ?

Update : friction tags values are not set by Gazebo. Probably an error in my urdf.xacro file.

There is an example where I am setting friction values :

<gazebo reference="my_link">
      <collision>
        <surface>
          <friction>
            <ode>
              <mu>100000.0</mu>
              <mu2>100000.0</mu2>
              <slip1>0.0</slip1>
              <slip2>0.0</slip2>
              <fdir1>1 0 0</fdir1>
            </ode>
          </friction>
          <contact>
            <ode>
              <min_depth>0.003</min_depth>
            </ode>
          </contact>
        </surface>
      </collision>
</gazebo>

Thanks in advance.

Workaround: I made a plugin to apply speed to the base link of my robot.

This plugin will also set links (which are not parents on a joint) with no friction.

And it's working pretty nice.

Update :

This plugin was working with a model with unrealistic inertial matrix. When I tried it on a more realistic model a bias between the wanted angular speed and the actual one appeared.

As I said here (http://answers.gazebosim.org/question/17842/car-with-front-wheel-drive/), the solution is to switch the root link of the model to be kinematic (SetKinematic method). And then you can apply the wanted speed with SetLinearVel and SetAngularVel.