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2018-07-13 18:55:23 -0500 marked best answer remove gazebo2 and install gazebo7 for ros indigo

I have installed Indigo: host gazebo version 2.x package before.

Now I want to change gazebo2 to gazebo7, do I need to remove the gazebo2 and all the gazebo2 package related first, and then follow the official install tutorial?

If so, how to remove them cleanly, correctly and safely?

By the way, I also wonder if gazebo7 and ros-gazebo7 package installed, will any code which run on ros-gazebo2 run well on ros-gazebo7 as well?

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2017-07-29 17:29:35 -0500 marked best answer where I can find contact_size() function

In tutorial, there is a set of code shown below:

void ContactPlugin::OnUpdate()
{
  // Get all the contacts.
  msgs::Contacts contacts;
  contacts = this->parentSensor->GetContacts();
  for (unsigned int i = 0; i < contacts.contact_size(); ++i)
  {
    std::cout << "Collision between[" << contacts.contact(i).collision1()
              << "] and [" << contacts.contact(i).collision2() << "]\n";

    for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j)
    {
      std::cout << j << "  Position:"
                << contacts.contact(i).position(j).x() << " "
                << contacts.contact(i).position(j).y() << " "
                << contacts.contact(i).position(j).z() << "\n";
          std::cout << "   Normal:"
                << contacts.contact(i).normal(j).x() << " "
                << contacts.contact(i).normal(j).y() << " "
                << contacts.contact(i).normal(j).z() << "\n";
      std::cout << "   Depth:" << contacts.contact(i).depth(j) << "\n";
    }
  }
}

I wonder where I can find the API information about usage and definition of contact_size() function. I am not familiar with C++, is it because related to C++ library? Any hint or guide would be appreciated.

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2017-06-13 06:12:13 -0500 asked a question model set to be immovable still move after collide with other model

model set to be immovable still move after collide with other model Goal: I want to set base_link of robot arm fixed to

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2017-06-13 05:18:44 -0500 edited question force ground truth value keeps bouncing between positive and negative

force ground truth value keeps bouncing between positive and negative I use a gazebo_ros_f3d plugin to check force groun

2017-06-13 05:17:33 -0500 edited question force ground truth value keeps bouncing between positive and negative

force ground truth value keeps bouncing between positive and negative I use a gazebo_ros_f3d plugin to check force groun

2017-06-13 05:15:43 -0500 edited question force ground truth value keeps bouncing between positive and negative

force ground truth value keeps bouncing I use a gazebo_ros_f3d plugin to check force ground truth value of gripper_roll_

2017-06-13 05:11:38 -0500 edited question model set to be fixed to world keeps jittering

model set to be fixed to world keeps jittering Background: I want to set one of the box object to be fixed to the world

2017-06-13 05:11:24 -0500 edited question model set to be fixed to world keeps jittering

model set to be fixed to world keeps jittering Background: I want to set one of the box object to be fixed to the world

2017-06-13 05:10:17 -0500 marked best answer model set to be fixed to world keeps jittering

Background: I want to set one of the box object to be fixed to the world.

What I have tried:

if an object set to be fixed to the world, it will keeps jittering. According to my search, some say it could be inertia problem. Though I change it according to formula of uniform 3d object, and it still doesn't work

Source code:

Here is the wall.xacro // script I show has commented the below code

Code below used to make box object fixed to world.

<!-- wall fixed to the world-->
    <link name="world"/>

    <joint name="base_link_fixed" type="fixed">
      <parent link="world"/>
      <child link="wall_link"/>
    </joint>

Problem:

However, the box turns out to be jittering all the time like dancing!! box_jitter

Solution Found

Thank WarwickWagon's answer. The first solution works well.

2017-06-13 05:10:15 -0500 commented answer model set to be fixed to world keeps jittering

Thank you WarwickWagon for your helpful and prompt reply! The first solution works for me perfectly. Actually I have tri

2017-06-13 04:53:09 -0500 edited question model set to be fixed to world keeps jittering

model set to be fixed to world keeps jittering Background: I want to set one of the box object to be fixed to the world

2017-06-12 04:37:36 -0500 commented answer Adding ros integrated contact sensors

Did you get it done by the way? Thanks!

2017-06-12 04:37:18 -0500 commented answer Adding ros integrated contact sensors

I got the same problem, empty topic, though I have tried to work around by following the above link I leave

2017-06-12 04:36:53 -0500 edited answer Adding ros integrated contact sensors

collision tag in contact tag of gazebo tag is very tricky, to which one should pay more attention. Here is the link to

2017-06-12 04:36:39 -0500 commented answer Adding ros integrated contact sensors

I got the same problem, empty topic, though I have tried to work around by following the this link gazebo-contact-sensor

2017-06-12 04:36:15 -0500 commented answer Adding ros integrated contact sensors

I got the same problem, empty topic, though I have tried to work around by following the gazebo-contact-sensor-added-to

2017-06-12 04:31:16 -0500 answered a question Adding ros integrated contact sensors

collision tag in contact tag of gazebo tag is very tricky, to which one should pay more attention. Here is the link to

2017-06-12 04:20:41 -0500 asked a question topic of gazebo_ros bumper sensor attached to arm link echo no contact information

topic of gazebo_ros bumper sensor attached to arm link echo no contact information Goal: I want to attach contact sens

2017-06-11 22:57:15 -0500 commented answer Contact sensor generates no contact information using gazebo_ros_bumper plugin

It seems you were showing the SDF file instead of URDF....sorry, my mistake... Anyway, have you solved the problem, anyt

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2017-06-11 22:54:57 -0500 answered a question Contact sensor generates no contact information using gazebo_ros_bumper plugin

sensor tag should be put in gazebo tag, since these plugin information belongs to gazebo-specific used inSDF file instea

2017-06-11 20:17:37 -0500 commented question Force control with proper force sensor

Have you solved your problem? I want to know how to deal with it as well, thanks!

2017-06-11 19:27:42 -0500 answered a question how to use gazebo_ros_f3d contact sensor

I look through this code of PR2 and found the solution. gazebo_ros_f3d plugin must be put directly in gazebo tag rathe

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