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2018-08-07 03:59:36 -0500 commented answer Clouds from screen is not visible in camera image

Thank you very much for the input :-) I think the test case the other guys found is a bit easier to work with and also s

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2018-08-06 09:02:19 -0500 answered a question Create new actor skin with blender

The actor is intended to work for Gazebo 8 and forward, so this might be the problem you are encountering: http://gazebo

2018-08-06 08:56:31 -0500 answered a question Insert sdf at coordinates

You should be able to add a model in your world file, with code similar to this: <world> ... <include>

2018-08-06 08:45:35 -0500 asked a question Clouds from screen is not visible in camera image

Clouds from screen is not visible in camera image I am trying to model a camera sensor in Gazebo and pass the image to R

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2018-06-14 06:58:57 -0500 commented answer Actor and LiDAR sensor problems

I have added an issu on the gazebo bitbucket page: https://bitbucket.org/osrf/gazebo/issues/2482/actor-and-lidar-sensor-

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2018-06-06 06:52:37 -0500 asked a question Actor and LiDAR sensor problems

Actor and LiDAR sensor problems I have been trying to experiment with the actors to create a scripted animation. My goa

2018-06-06 06:52:03 -0500 asked a question Actor and LiDAR sensor problems

Actor and LiDAR sensor problems I have been trying to experiment with the actors to create a scripted animation. My goa

2018-06-06 06:51:31 -0500 asked a question Actor and LiDAR sensor problems

Actor and LiDAR sensor problems I have been trying to experiment with the actors to create a scripted animation. My goa

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2018-05-12 10:30:36 -0500 commented answer Loading 3D models of tree's and plants into gazebo

There is a number of tools to create plants. But you can just use blender to create models or search the internet: https

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2018-05-09 09:10:03 -0500 asked a question Loading 3D models of tree's and plants into gazebo

Loading 3D models of tree's and plants into gazebo I have been trying for some time to load models of tree's and other p

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2016-08-24 10:45:35 -0500 asked a question create randomized plane structure

When I create a ground plane, one can see where the image is repeated: image description Is there some way to create a more smooth stichin, that can be scaled.

My setup if the following:

soil.material

material vrc/soil
{
    technique
    {
        pass
        {
            ambient 0.5 0.5 0.5 1.0
            diffuse 0.5 0.5 0.5 1.0
            specular 0.4 0.4 0.4 1.0 12.5

            texture_unit
            {
                texture soil_v1.jpg
                filtering anistropic
                max_anisotropy 30
                scale 0.004 0.004
            }
        }
    }
}

image description

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="asphalt_plane">
    <static>true</static>
    <link name="link">
      <!--<collision name="collision">
        <geometry>
          <box>
            <size>200 200 0.0001</size>
          </box>
        </geometry>
      </collision>-->
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <box>
            <size>200 200 .1</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>model://soil_plane_dark/model/materials/scripts</uri>
            <uri>model://soil_plane_dark/model/materials/textures</uri>
            <name>vrc/soil</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>
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2016-08-24 10:09:42 -0500 answered a question how can i import grass plane into Insert tab in gazebo?

Use a tool like plantstudio to generate plants: http://www.kurtz-fernhout.com/PlantSt... The tool can be run using wine on many linux distroes. The tool is able to generate plants CAD models with the aspects you want. Use blender og meshlab to convert the CAD models from plantstudio into *.dae. Other tools that can be used are: http://vterrain.org/Plants/plantsw.html

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2016-08-23 06:30:56 -0500 asked a question How to change transparency/visibility of visual using gazeboRos modelplugin

I am trying to change the transparency of the cones in the attached picture online image description

First some system info:

  • Ubuntu 14.04
  • Gazebo 7.3
  • Gazebo 5.1
  • ROS JADE

I have tested with both Gazobo 7 and Gazobo 5, to determine if this was a version problem, but the problem remains the same. I made a plugin for ROS to change the transparancy, but it does not seem to have any affect on the chosen visual in gazebo.

#include "generic_sprayer_plugin/generic_sprayer_plugin.h"
#include <cmath>

namespace gazebo
{


    GenericSprayerPlugin::GenericSprayerPlugin()
    {
        alive_ = false;
    }

    GenericSprayerPlugin::~GenericSprayerPlugin() {
    }

    void GenericSprayerPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
    {

        this->parent = _parent;

        this->gzNode = transport::NodePtr(new transport::Node());
        this->gzNode->Init();

        this->visPub = this->gzNode->Advertise<gazebo::msgs::Visual>("~/visual");

        gazebo_ros_ = GazeboRosPtr(new GazeboRos(_parent, _sdf, "GenericSprayerPlugin"));

        // Make sure the ROS node for Gazebo has already been initialized
        gazebo_ros_->isInitialized();

        gazebo_ros_->getParameter < std::string > (sprayer_viz_topic_, "sprayerVizTopic", "/aiSim/gen_sprayer");

        last_update_time_ = parent->GetWorld()->GetSimTime();

        spray_link = parent->GetChildLink("sprayer_1");

        Sprayer_inputMsg.valve = true;

        alive_ = true;

        ros::SubscribeOptions so =
            ros::SubscribeOptions::create<generic_sprayer_plugin::Sprayer_input> ( sprayer_viz_topic_, 1,
            boost::bind ( &GenericSprayerPlugin::onVizUpdate, this, _1 ),
            ros::VoidPtr(), &queue_ );

        subscriber_ = gazebo_ros_->node()->subscribe ( so );

        ROS_INFO ( "%s: Subscribe to %s!", gazebo_ros_->info(), sprayer_viz_topic_.c_str() );

        // start custom queue for diff drive
        this->callback_queue_thread_ = boost::thread ( boost::bind ( &GenericSprayerPlugin::QueueThread, this ) );

        // listen to the update event (broadcast every simulation iteration)
        this->update_connection_ = event::Events::ConnectWorldUpdateBegin(
                boost::bind(&GenericSprayerPlugin::OnUpdate, this));
    }

    void GenericSprayerPlugin::OnUpdate()
    {

        std::string _name = "generic_sprayer::sprayer_1::spray_cone";
            std::string _parentName = "generic_sprayer::sprayer_1";

        msgs::Visual visualMsg;
        visualMsg.set_name(_name);
        visualMsg.set_parent_name(_parentName);

        //ROS_ERROR("HELL");


        //std::string _tt = spray_link->GetScopedName();



        //ROS_ERROR(_tt.c_str());
        //ROS_ERROR(parent->GetScopedName().c_str());

        if (!Sprayer_inputMsg.valve)
            visualMsg.set_transparency(0);
        else
            visualMsg.set_transparency(1.0);

        visPub->Publish(visualMsg);

    }

    void GenericSprayerPlugin::QueueThread()
    {
        static const double timeout = 0.01;
        while ( alive_ && gazebo_ros_->node()->ok() ) {
            queue_.callAvailable ( ros::WallDuration ( timeout ) );
        }
    }

    // Finalize the plugin
    void GenericSprayerPlugin::FiniChild()
    {
        alive_ = false;
        queue_.clear();
        queue_.disable();
        gazebo_ros_->node()->shutdown();
        callback_queue_thread_.join();
    }

    void GenericSprayerPlugin::onVizUpdate(const generic_sprayer_plugin::Sprayer_input::ConstPtr& msg)
    {
        Sprayer_inputMsg.header = msg->header;
        Sprayer_inputMsg.valve = msg->valve;
    }
}

I think I am either not publishing the msgs::Visual message correctly or connection incorrectly to ("~/visual"); But I have not found a way to verify what is actually going wrong.

I have tried to implement similar solution to the code in : HaptixWorldPlugin FootballDemoPlugin whitout any succes for both cases.

The main difference is that I am also using ROS and therefore using a differrent type of gazebo plugin. I hope I can get some hints on what I am doing wrong :-\

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2016-08-03 10:51:42 -0500 answered a question Loading in CAD model with colors

I found a solution to my problem. basicly I converted my *.step files into *.obj files using solidworks or CAD exchanger. I am not sure if any other program is able to do this first step. Then I loaded the obj file into blender 2.7 and made the correction in terms of scale and export to *.dae. The result can be seen below: image description.

So the trick to get from *.step to *.dae with colors was the obj trick:

xx.step -> (xx.obj, xx.mtl) -> xx.dae.

2016-08-03 10:43:03 -0500 commented answer Loading in CAD model with colors

Yes I get that now :-( I just found a solution 4 minutes ago. Will post a guide in a moment or two.

2016-08-03 10:40:44 -0500 edited question Loading in CAD model with colors

I have been trying to get a CAD *.step file converted to collada *.dae and to get shown in Gazebo with correct colors. I all cases it seems that I only get the grey uncolored version, when Gazebo loads the dae file. I am current using ROS indigo with the standard Gazebo distribution that is part of this release.

In MeshLab I am able to see the colors correctly in the exported *.dae models: image description

I have also been attempting to convert using FreeCad, Rhinoceros, Blender, Solidworks. But I still ended up unable to display the colors from the step file.

The way I include into gazebo the *.dae is the following:

<?xml version='1.0'?>
<sdf version='1.4'>
  <model name="robot_v3_solid">
    <static>true</static>
    <link name="body">
      <pose>0 0 0 0 0 0</pose>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://robotti_v3_solid/model/meshes/robot_body.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://robotti_v3_solid/model/meshes/robot_body.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

Is there some method or program I can use, to convert my *step files into *.dae, to ensure gazebo is able to read the colors and display them correctly ? I have been looking trough the guides but have not bee able to find an answer to this problem. Re-coloring all components individually via sdf files, with just to much trouble, so I am looking for a better option.

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2016-08-02 15:47:32 -0500 commented answer Loading in CAD model with colors

I upgraded to ROS jade and the std Gazebo 5 in ubuntu 14.04, but the result seems to be the same. Basically I think I am doing something wrong when I do the conversion into dae, but I have been unable to find a good guide that explain the color part.

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