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2018-01-12 16:30:58 -0500 marked best answer Making Gazebo sensor topics visible in ROS

I'm using Gazebo 2.3 and ROS Indigo but I can also use Gazebo 7 if that will help me with my problem.

I would like to model a swarm of identical robots, each with a laser scanner and depth camera. I am spawning each robot from within a Python script and I'd like to use the same SDF model for each robot. At first this appears to work well since when I view the topics in Gazebo using the "Topic Visualization" menu item, each robot gets a unique sensor topic name for its lidar and camera. The problem is that these topics are not visible in ROS. In other words, when I run 'rostopic list', the simulated robot sensor topics do not appear. If I add a topic name to the sensor plugins in the robot SDF, then all robots get the same sensor topic names in ROS.

So does anyone know how I can get unique sensor topic names in ROS without cloning the SDF file multiple times, each one with a different set of topic names? As far as I can tell, I cannot programmatically pass a topic name when I spawn each robot model. I'd be happy with a Gazebo plugin or C++ node that republishes the Gazebo topics to ROS. Or perhaps there is a hack to the Gazebo source itself I could implement to make all Gazebo topics available to ROS?

Thanks,
patrick

2018-01-12 16:30:56 -0500 commented answer Making Gazebo sensor topics visible in ROS

OK, andthanks for the link for creating SDFs programmatically.

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2018-01-10 09:18:41 -0500 asked a question Making Gazebo sensor topics visible in ROS

Making Gazebo sensor topics visible in ROS I'm using Gazebo 2.3 and ROS Indigo but I can also use Gazebo 7 if that will

2018-01-10 08:50:13 -0500 commented answer Getting distance from model to nearest object

Yeah, we thought we might do that but then it was not clear how to get the nearest distance to a mesh that represents an

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2018-01-04 10:06:10 -0500 edited question Getting distance from model to nearest object

Getting distance from model to nearest object Hello, I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I hav

2018-01-04 10:04:57 -0500 asked a question Getting distance from model to nearest object

Getting distance from model to nearest object Hello, I am running Gazebo 2.3 under ROS Indigo and Ubuntu 14.04. I hav

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2017-09-17 08:27:26 -0500 commented question Robot base slowly drifting

I'm having the exact same problem using Gazebo 2.2.3 and ROS Indigo. Even without any control input, the angular z velo

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2017-09-10 20:10:13 -0500 commented answer How to turn off all collisions?

Thanks but I don't think that check mark exists in Gazebo 2.2.3 (at least I can't find it).

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2017-09-10 20:09:37 -0500 marked best answer How to turn off all collisions?

I am using Gazebo 2.2.3 under ROS Indigo. I am wondering how I can turn off collision on all models (or even one at a time) without turning off the physics. I need the sensor data from the physics but I also want the models to pass through each other if they come into contact.

Thanks! patrick

2017-09-10 20:09:35 -0500 commented answer How to turn off all collisions?

Thanks! That did the trick. And yeah, I've run Gazebo 7 on some of my Ubuntu 14.04 machines and ROS Indigo but 2.2.3 i

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2017-09-09 21:15:10 -0500 asked a question How to turn off all collisions?

How to turn off all collisions? I am using Gazebo 2.2.3 under ROS Indigo. I am wondering how I can turn off collision o

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2017-04-20 08:08:31 -0500 commented answer wideanglecamera tutorial not working with Gazebo 6.7

Just confirming that the wide angle camera works in Gazebo 7.

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2017-04-19 07:25:15 -0500 commented answer wideanglecamera tutorial not working with Gazebo 6.7

Thanks! I'll install Gazebo 7 and give it a try.

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2017-04-15 08:10:07 -0500 asked a question wideanglecamera tutorial not working with Gazebo 6.7

Hello,

I am trying to run the wideanglecamera tutorial with Gazebo 6.7. The camera shows up under the insert menu and I can insert the sensor which then appears as a box in the GUI. However, when I hit Ctrl-T to list the topics, there is no ImageStamped topic to choose like there is if I insert a normal camera.

There are no errors in the terminal window from which I launched Gazebo.

Any thoughts on how I can debug this?

Thanks!
patrick

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2017-02-22 15:06:32 -0500 commented answer Floor plan to simple mesh?

This sounds like exactly what I need so thanks! However, so far I haven't been able to get my floor plan to show up in Gazebo regardless of the values I set for scale, height, granularity and threshold. Do you have any suggestions or examples? Also I am using Gazebo 2.2 under ROS Indigo. I'll add the test world file I am using to my original question.

2017-02-22 09:29:07 -0500 asked a question Floor plan to simple mesh?

We have floor plan (.png file) for one floor of our office building and we'd like to "extrude" the black cells in the image to make a kind of simple mesh for use in Gazebo. In other words, I'd like to turn the black lines into walls of a given height and then export the result as a Collada or STL mesh. Does anyone know of a tool that could do this automatically? I'm aware of Gazebo's ability to import a floor plan but then building the walls is a manual process. I've looked at Meshlab and Blender but so far I cannot see a way to do what I need.

Thanks! patrick

Edit 1

Thanks to the answer below, I created a test world file like the the one below. However, my floor plan is not showing up in Gazebo regardless of the values I set for scale, height, granularity and threshold. Does anyone have any suggestions or examples? Also, I am using Gazebo 2.2 under ROS Indigo.

test.world:

<?xml version="1.0"?>
<sdf version="1.4">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="my_mesh">
      <pose>0 0 0  0 0 0</pose>
      <static>true</static>
      <link name="body">
        <visual name="visual">
        <geometry>
          <image>
            <uri>file://home/patrick/Dropbox/Robotics/ros/jackrabbot_testing/jr1_gazebo/models/gates_1/floor_plan/gates_1_floorplan_edited.png</uri>
            <scale>1</scale>
            <height>1</height>
            <threshold>0</threshold>
            <granularity>10</granularity>
          </image>
         </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>