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2016-01-04 10:08:43 -0500 asked a question Gazebo client crashes on startup

I have installed gazebo simulator using the ROS installation (ros-indigo-desktop-full) Gazebo 2.2.3 was installed alongside. When I run

gzserver

The gazebo server connects to master and everything is fine

Gazebo multi-robot simulator, version 2.2.3 Copyright (C) 2012-2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Msg Waiting for master Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: MY.IP.ADDRESS.NUMBER

In a new terminal I run

gzclient

And I get the following error

Error [SelectionBuffer.cc:102] Unable to create selection buffer. Segmentation fault (core dumped)

Couldn't find a solution anywhere. Ideas?

2015-10-31 12:30:34 -0500 marked best answer DRC Vehicle controller does not respond or responds very slowly in DRCSim 2.3

Hello everyone, I have upgraded to DRCSim 2.3 and since then I can't seem to control the DRC vehicle, aka the polaris ranger. I used to operate the vehicle by: rostopic pub /drcvehicle/gaspedal/cmd std_msgs/Float64 "{data X.X}"

When the vehicle is in motion, and after applying "data 0.0" the vehicle doesn't seem to stop.

In addition, the steering process takes a lot of time to turn.

Any ideas how to improve?

Oded

2015-10-31 12:30:22 -0500 marked best answer DRC Vehicle dimensions

Hello, We have several issues regarding the DRC vehicle and DRC simulator 2.3 :

a. Control issues

  1. The DRC vehicle and the golf cart controllers either not respond in the DRC simulator 2.3, or respond very slowly. We reported this issue on answers.gazebosim.org, and an issue was opened in bitbucket. http://answers.gazebosim.org/question/2254/drc-vehicle-controller-does-not-respond-or/
  2. The handbrake command does not respond from the terminal (since DRC simulator 2.3)

  3. When trying to manually lower the handbrake with Atlas, the handbrake jumps back to the initial position.

  4. There is still no steering wheel in the DRC vehicle. Therefore, it is impossible to drive the vehicle with atlas.

b. Geometry issues 1. Is it possible to remove the side rails? As you can see the rails block the entrances, and make it very difficult to egress the vehicle.

view pic in link

view pic in link

  1. Lower the height of the seat . The seat is still very high (the seat is at pelvis height) and it makes entering the vehicle very difficult, due to the steering wheel.

  2. The upper frame is too small, and when entering the vehicle the broad shoulders of the robot collide with the frame. view pic in link

  3. The floor of the vehicle is crowded, there isn't enough "leg room". view pic in link

ROBIL Team

2015-10-31 12:30:12 -0500 marked best answer Controlling Atlas over ROS topic in python disabled?

Hello everybody, I updated to DRCsim 2.5 and since then Atlas doesn't respond to the python script, as described in this tutorial.

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2014-04-30 06:14:58 -0500 asked a question Boosting the realtime factor above 1

Is it possible somehow to boost the realtime factor above 1??

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2013-05-07 03:57:19 -0500 asked a question IMU noise cancelation in DRCsim 2.5

I looked at the noise added to the IMU of Atlas and I saw that the acceleration has a bias of +-0.1 m/s/s in all direction, and the noise distribution in Gauusian. However, the orientation received from the IMU is filtered, with no bias and hardly any noise.

Is there a filter implemented in the calculation of the orientation?

Thanks, Oded

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2013-04-30 10:21:45 -0500 marked best answer DRCsim point cloud noise

Hello,

I launched an empty world with Atlas and added the terrain and a few boxes. When viewing in Rviz, a noisy point cloud is presented (see youtube video). image description

Questions: a. Is the noise deliberate? b. If so, is this the Gaussian noise, what is the variance of the noise, and can the variance be changed?

Thanks,

Oded

2013-04-30 10:20:59 -0500 commented answer DRCsim point cloud noise

I tried removing the noise by rewriting "<stddev>0.0</stddev>" in both cameras and compiling and reinstalling, yet the noise was not removed.