wangshanren's profile - activity

Well,after three days suffering,I finally make it work,I use my own world files not the default one,then I increase the ODE iters from 50 to 5000,the model is stable.Thanks God! Although I don't know the consequences yet,we'll see!

I'm using urdf in gazebo to build a walking quadruped robot ,after set the proper inertial (calculated by meshlab followed the tutorials here link text), the model is still moving ,just floating on the ground,acts like someone is pushing it.Also when click my link in gazebo's left panel,some of the bounding box is really wrong. In addition,I just start gazebo without any controller,I found some useful anwsers: link text link text link text link text link text. But none of them fixed my problem.Right now I'm using ROS Indigo with Gazebo 2.x.Here is my urdf files divided into three parts:urdf.xacro, trasmission.xacro and gazebo.xacro.I'v been stuck in this problem for nearly a week.Can anyone help me fix this problem?

Using coding as following:

public:

void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
    this->model = _parent;
    this->updateConnection = event::Events::ConnectWorldUpdateBegin(
            boost::bind(&ModelPluginTutorial::OnUpdate, this, _1));     
    std::ofstream file("Angle.txt");
    for (int i = 0; i < N; i++) {
        file << position[i] << std::endl;
    }
    file.close();
}

However things turned out unexpected,there are no file generated.who can help me out of this problem?

Yes,but this morning i found the rosservice gazebo provided,In the response we can get the angle position,Thanks anyway!

I think you can try to edit the GAZEBO_PLUGIN_PATH in .bashrc

Okay，the truth is in rosservice that gazebo published,using command below: get_jnt_state_client.call(get_joint_state_srv_msg); q1.push_back(get_joint_state_srv_msg.response.position[0]); Here,the position is the ANGLE !!!

you can try install gazebo7 from source,there is tutorials you can follow,I'm using gazebo7 and ros indigo right now

we know that gazebo already publish rostopics and rosservices which contains Joint position ,velocity and efforts.Also we can get joint angle using a model plugin . The question is how to publish it as a rostopic.I'v seen examples about publishing image data using plugin,after editing the plugin,they all have some tags in .world file between <plugin> </plugin>.
However i don't konw how to set my own,so is there some methods i can use or the whole thing is unnecessary?