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2018-06-29 14:35:25 -0500 marked best answer Avoid long first start of gazebo

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 ?

2018-04-10 10:04:11 -0500 asked a question GUI Joints PIDs vs JointController PIDs

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

2018-04-09 03:04:06 -0500 marked best answer Error Param.cc inf value

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

2018-03-02 02:10:49 -0500 answered a question How to reduce CPU usage due to large number of models

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

2018-02-22 05:00:02 -0500 commented answer Setting initial velocity in plugin

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

2018-02-16 11:01:36 -0500 commented answer add sensor in urdf from gazebo model database

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

2018-02-15 04:59:22 -0500 edited answer add sensor in urdf from gazebo model database

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

2018-02-15 04:29:19 -0500 commented question inertial parameters from file not showing up in gazebo UI

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

2018-02-15 04:26:37 -0500 answered a question add sensor in urdf from gazebo model database

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

2018-02-15 01:58:14 -0500 commented answer Setting initial velocity in plugin

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

2018-02-15 01:48:53 -0500 commented answer Setting initial velocity in plugin

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

2018-02-08 02:56:48 -0500 answered a question Defining collision object accurately in sdf

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

2018-02-07 09:02:37 -0500 answered a question Setting initial velocity in plugin

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

2018-01-31 08:45:57 -0500 answered a question Vehicle with trailer / Train

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

2018-01-31 08:39:45 -0500 answered a question Gazebo_ros_bumper plugin returns empty state despite collision

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

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2017-12-05 04:04:39 -0500 edited answer Make a kinematic only model

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

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2017-12-04 10:59:47 -0500 answered a question Car with front wheel drive

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

2017-11-30 08:41:09 -0500 edited answer Mesh is invisible, but I can see it as a collision. DAE model

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

2017-11-30 08:36:30 -0500 edited answer Can I change link properties (length and pose) at run time?

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

2017-11-30 08:06:50 -0500 answered a question Can I change link properties (length and pose) at run time?

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

2017-11-30 07:57:08 -0500 commented question Car with front wheel drive

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

2017-11-30 07:52:07 -0500 edited question Car with front wheel drive

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

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2017-11-27 04:16:57 -0500 edited answer Mesh is invisible, but I can see it as a collision. DAE model

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

2017-11-27 04:09:01 -0500 answered a question Mesh is invisible, but I can see it as a collision. DAE model

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

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2017-11-17 06:04:11 -0500 asked a question Car with front wheel drive

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

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2017-11-14 08:15:45 -0500 answered a question Using joint->SetParam for velocities has no effect in Gazebo7

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

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2016-11-09 11:28:56 -0500 asked a question Unset force for a heavy link

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.

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2016-10-21 01:42:27 -0500 answered a question Make a kinematic only model

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.

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