kaldo's profile - activity

Actually, reading the doc had led me to think I would get the actual objects. So I was surprised at the actual behavior and wondering if it was intended.

Hello,

When I set the gains of my PID object using a direct reference it works, as :

common::PID pid = common::PID(0.1, 0, 0);
std::cout << pid.GetPGain();

pid.SetPGain(0.5);
std::cout << pid.GetPGain();

produces

0.1
0.5

However, when I access it through the joint controller, the gain value isn't set.

std::cout << model->GetJointController()->GetPositionPIDs()[joint->GetScopedName()]->GetPGain();

model->GetJointController()->GetPositionPIDs()[joint->GetScopedName()]->SetPGain(0.5);

std::cout << model->GetJointController()->GetPositionPIDs()[joint->GetScopedName()]->GetPGain();

produces

0.1
0.1

Does GetPositionPIDs not provide you with the actual PID objects, but a bunch of copies?

Cheers,

Hello,

My sdf model contains an included Hokuyo laser, and I tried to attach the rather standard libgazebo_ros_gpu_laser.so plugin, as follows:

<model name="my_laser">
    <include>
        <uri>model://hokuyo</uri>
        <pose>-0.22 0 0.10500000000000001 0 0 3.141592653589793</pose>
        <plugin name="laser_plugin" filename="libgazebo_ros_gpu_laser.so" />
    </include>
</model>

I get this error:

Model[my_laser] is attempting to load a plugin, but detected an incorrect plugin type.

Indeed, from what I see in the example, the plugin is meant for <sensor> elements.

So can I access the sensor itself, and attach the plugin to it directly?

If not, how do you suggest I use the plugin?

Thanks,

Thank you :) Gazebo is already verbose and said nothing. And I'm using an adapted version of the "standard" cart with front steering, so I don't expect to have any extravagant link. I split my joint as you suggested, but can get only one to move at a time. Could you please elaborate on the dummy link?

As a workaround, I set the GAZEBO_PLUGIN_PATH directly in my launch file, adding an <env> tag at the beginning :

<launch>
  <!-- Set up env variable so plugin are found -->
  <env name="GAZEBO_PLUGIN_PATH" value="$(find car_gazebo)/plugins"/>

Hello,

I have a car whose front wheel are connected to chassis in this manner :

<joint name="wheel_front_left_steer_spin" type="universal">
  <parent>chassis</parent>
  <child>wheel_front_left</child>
  <axis>
    <xyz>0 -1 0</xyz>
    <limit>
      <lower>-0.5235987755982988</lower>
      <upper>0.5235987755982988</upper>
    </limit>
  </axis>
  <axis2>
    <xyz>0 0 1</xyz>
  </axis2>
</joint>

In order to steer my car, I want to set the position around axis2 to 30 degrees. So I tried this (inside my plugin):

 this->joint_ = model_->GetJoint("car::wheel_front_left_steer_spin");

 this->steer_pid_ = common::PID(0.1, 0, 0);

 this->model_->GetJointController()->SetPositionPID(joint_->GetScopedName(), steer_pid_);

 double position = -3.14159265 / 6;
 this->model_->GetJointController()->SetVelocityTarget(joint_->GetScopedName(), position);

But it sends my car bouncing and jumping uncontrollably. So how do I set the angle of my wheels? I haven't found clear examples and couldn't figure it out from the doc.

Thanks in advance,

EDIT: So I split my joint into two revolute joints, but can only get one moving at a time. How can I link the two so I keep the 2 degrees of freedom?

<joint name="wheel_front_right_steer" type="revolute">
    <parent>chassis</parent>
    <child>wheel_front_right_steer_link</child>
    <axis>
        <xyz>0 -1 0</xyz>
        <limit>
            <lower>-0.5235987755982988</lower>
            <upper>0.5235987755982988</upper>
        </limit>
    </axis>
</joint>

<link name="wheel_front_right_steer_link">
     <!-- Not sure what to put here -->
</link>

<joint name="wheel_front_right_spin" type="revolute">
    <parent>wheel_front_right_steer_link</parent>
    <child>wheel_front_right</child>
    <axis>
        <xyz>0 0 1</xyz>
    </axis>
</joint>

Thanks for the input! I have modified the launch file to run in verbose mode, and an error came up! I have edited the question.

My world file (adapted from the tutorial) contains a plugin :

<model name="my_car">
    <include>
        <uri>model://car</uri>
    </include>
    <plugin name="car_control" filename="car_plugin/build/libcar_plugin.so">
        <velocity>2</velocity>
    </plugin>
</model>

What works

The plugin loads and displays the expected message when I do this :

$ export GAZEBO_MODEL_PATH="$CATKIN_WS/src/tas_group_2/car_gazebo/models"
$ export GAZEBO_PLUGIN_PATH="$CATKIN_WS/src/tas_group_2/car_gazebo/plugins"
$ gazebo worlds/car.world

What doesn't

However I can't get it to launch through roslaunch with :

$ roslaunch car_gazebo car.launch

and I get te following error :

[Err] [Plugin.hh:165] Failed to load plugin car_plugin/build/libcar_plugin.so: car_plugin/build/libcar_plugin.so: cannot open shared object file: No such file or directory

My files contain : package.xml (car_gazebo) :

<?xml version="1.0"?>
<package>
    <name>car_gazebo</name>
        ...
    <run_depend>gazebo_ros</run_depend>
    <build_depend>gazebo_ros</build_depend>
    <buildtool_depend>catkin</buildtool_depend>

    <export>
        <gazebo_ros gazebo_model_path="${prefix}/models"/>
        <gazebo_ros gazebo_plugin_path="${prefix}/plugins"/>
    </export>
</package>

car.launch :

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find car_gazebo)/worlds/car.world" />
    <arg name="verbose" value="true" />
  </include>
</launch>

My question

I thought the two methods where equivalent. Because I specified the environment variables in the <export> tag.

<gazebo_ros gazebo_model_path="${prefix}/models"/> allowed gazebo to find my model, while <gazebo_ros gazebo_plugin_path="${prefix}/plugins"/> doesn't help find my plugin. How come?

Any idea how to get the plugin to work with the roslaunch command?

Cheers