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2016-06-03 14:27:31 -0600 commented answer Cannot control the joints using gazebo_ros_control plugin

Now it works, the limit is just the problem. I thought the default setting in plugin won't hurt, while ... Thank you!

2016-06-03 13:46:32 -0600 commented answer Cannot control the joints using gazebo_ros_control plugin

Thank you! I use URDF PlugIns of Solidworks to generate the URDF. I didn't set the value of torque, that's why it is zero, I will do some changes based on it.

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2016-06-02 13:34:29 -0600 commented answer How to set GAZEBO_PLUGIN_PATH correctly and add the plugin into Gazebo_ros ?

Thank you! I was quite confused why echo GAZEBO_PLUGIN_PATH just return a same name a same name, even if the gazebo default plugin setting still works. But at least I can use your method now.

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2016-05-30 03:40:04 -0600 asked a question Cannot control the joints using gazebo_ros_control plugin

Hi, I am modeling a walking robot in URDF with all the joints controlled by gazebo_ros_control plugin. It was made based on rrbot. Everything seems fine when run it in gazebo, and controller topics can be found. While when I want to use rostopic pub /halobject/Rl1_position_controller/command std_msg/Float64 10, the model has no response to it. Besides, when use rostopic echo /halobject/Rl1_position_controller/state to read the joint data, it also shows no response to my command. During the simulation, there is no error information about it, and my pid parameter is set to be 100,0.01,10. Joint state controller publish rate to be 20. The topics when running is as follows:

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/halobject/Ll1_position_controller/command
/halobject/Ll1_position_controller/pid/parameter_descriptions
/halobject/Ll1_position_controller/pid/parameter_updates
/halobject/Ll1_position_controller/state
/halobject/Ll2_position_controller/command
/halobject/Ll2_position_controller/pid/parameter_descriptions
/halobject/Ll2_position_controller/pid/parameter_updates
/halobject/Ll2_position_controller/state
/halobject/Lla1_position_controller/command
/halobject/Lla1_position_controller/pid/parameter_descriptions
/halobject/Lla1_position_controller/pid/parameter_updates
/halobject/Lla1_position_controller/state
/halobject/Ml_position_controller/command
/halobject/Ml_position_controller/pid/parameter_descriptions
/halobject/Ml_position_controller/pid/parameter_updates
/halobject/Ml_position_controller/state
/halobject/Rl1_position_controller/command
/halobject/Rl1_position_controller/pid/parameter_descriptions
/halobject/Rl1_position_controller/pid/parameter_updates
/halobject/Rl1_position_controller/state
/halobject/Rl2_position_controller/command
/halobject/Rl2_position_controller/pid/parameter_descriptions
/halobject/Rl2_position_controller/pid/parameter_updates
/halobject/Rl2_position_controller/state
/halobject/Rla1_position_controller/command
/halobject/Rla1_position_controller/pid/parameter_descriptions
/halobject/Rla1_position_controller/pid/parameter_updates
/halobject/Rla1_position_controller/state
/halobject/joint_states
/rosout
/rosout_agg
/tf
/tf_static

If anyone else met similar problem before? My file is here https://www.dropbox.com/sh/ew8tkluu6jw1p2e/AABILHj-hwEAzYaDBIaiGfSCa?dl=0 first source the devel/setup.bash then roslaunch halobject_gazebo halobject_world.launch it should start working.

Thank you!

2016-05-30 03:09:58 -0600 commented question How to set GAZEBO_PLUGIN_PATH correctly and add the plugin into Gazebo_ros ?

Could you tell me how to use the ABSOLUTE path? do changes in URDF file ?

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2016-05-28 08:26:19 -0600 commented question How to set GAZEBO_PLUGIN_PATH correctly and add the plugin into Gazebo_ros ?

After echo GAZEBO_PLUGIN_PATH in Terminal, I just get the result GAZEBO_PLUGIN_PATH

2016-05-28 08:24:49 -0600 commented question How to set GAZEBO_PLUGIN_PATH correctly and add the plugin into Gazebo_ros ?

I just use <plugin name="gazebo_ros_sonar_data" filename="libhector_gazebo_ros_sonar.so"> <gaussiannoise>0.005</gaussiannoise> <topicname>radiofence</topicname> <frameid>radiofence1</frameid> </plugin> </sensor> to call the plugin in my sensor sdf file.

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2016-05-25 15:16:31 -0600 asked a question How to set GAZEBO_PLUGIN_PATH correctly and add the plugin into Gazebo_ros ?

Hi, I am using gazebo to simulate a sonar. Thus I will use hector_sonar_plugin. While after I install the hector plugins from source and call it in my sdf, errors come.

At first, an error appear asking me to add libhector_sonar_plugin.so to gazebo_ros package.

I cannot understand it and thought it cannot find the plugin. Thus,I use

export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH

to add hector_plugin folder into path, then more error come:

Error [Plugin.hh:156] Failed to load plugin libRayPlugin.so: libRayPlugin.so: cannot open shared object file: No such file or directory
[FATAL] [1464103865.820981859]: A ROS node for Gazebo has not been initialized, unable to load plugin. Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)

Could someone tell me how to set the GAZEBO_PLUGIN_PATH correctly (or reset it correctly)? And if I want to use plug-Ins such as hector's, what should I do? (just copy .so to the model folder or ...?)

I am using Indigo full desktop, and thus version should be gazebo2

Thank you.

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2016-05-15 12:04:01 -0600 asked a question How to model a certain Ultrasonic sensor?

Hi, I am a newbie of Gazebo and ROS. I want to model a robot with 4 Ultrasonic sensors. While according to the user manual of my sensors, the detected region is not a sector with certain radius. Thus, could someone tell me if there is some tutorial or files about building such a Ultrasonic sensor, that can only detect a irregular region?

I have seen that there is a Plug-In tutorial about construct Velodyne HDL-32 LiDAR, while seems different from my sensor in property, as the beams are in a sector.

Thank you for your help!