Gazebo | Ignition | Community
Ask Your Question

markus's profile - activity

2020-07-22 06:41:33 -0600 received badge  Famous Question (source)
2020-07-22 06:41:33 -0600 received badge  Notable Question (source)
2019-08-22 15:41:56 -0600 received badge  Famous Question (source)
2019-05-09 02:18:26 -0600 received badge  Notable Question (source)
2019-05-09 02:18:26 -0600 received badge  Popular Question (source)
2019-04-15 10:30:43 -0600 received badge  Famous Question (source)
2018-12-16 14:11:04 -0600 received badge  Famous Question (source)
2018-11-06 23:18:50 -0600 received badge  Famous Question (source)
2018-09-12 09:05:42 -0600 received badge  Notable Question (source)
2018-09-11 16:52:05 -0600 received badge  Popular Question (source)
2018-09-10 05:47:30 -0600 edited question Physics parameters for a rolling ball

Physics parameters for a rolling ball Hey there, I try to simulate a ball balancing on a plate. Now my problem is that

2018-09-10 04:43:42 -0600 edited question Physics parameters for a rolling ball

Physics parameters for a rolling ball Hey there, I try to simulate a ball balancing on a plate. Now my problem is that

2018-09-10 04:40:01 -0600 asked a question Physics parameters for a rolling ball

Physics parameters for a rolling ball Hey there, I try to simulate a ball balancing on a plate. Now my problem is that

2018-08-31 09:17:16 -0600 received badge  Notable Question (source)
2018-08-31 03:06:05 -0600 received badge  Popular Question (source)
2018-08-29 04:36:31 -0600 asked a question create a static mount in gz with urdf

create a static mount in gz with urdf Hey there, I would like to create a static mount for a plate: So that the plate c

2018-08-27 08:58:46 -0600 asked a question Gazebo sun does not fully light my object

Gazebo sun does not fully light my object As you can see in the picture. My plate with aruco markers seems to be gray

2018-08-27 08:58:05 -0600 asked a question Gazebo sun does not fully light my object

Gazebo sun does not fully light my object As you can see in the picture. My plate with aruco markers seems to be gray

2018-06-06 04:50:33 -0600 received badge  Popular Question (source)
2018-06-01 03:54:37 -0600 asked a question Adjust max_contacts paramters for a ball

Adjust max_contacts paramters for a ball Hey, there I would like to set the physics parameter of a ball balancing on a p

2018-05-24 14:17:56 -0600 commented question Simulated camra -> do I need to rectify its image?

Yes correct check here: http://wiki.ros.org/image_proc

2018-05-18 12:09:15 -0600 received badge  Notable Question (source)
2018-05-17 22:21:00 -0600 received badge  Popular Question (source)
2018-05-17 08:12:43 -0600 asked a question Simulated camra -> do I need to rectify its image?

Simulated camra -> do I need to rectify its image? Hey there, I wonder if I need to rectify an image of a simulated

2018-04-25 09:10:04 -0600 received badge  Famous Question (source)
2018-04-23 07:55:53 -0600 commented question Is there an existing model for a ball on beam system?

Hey SL REmy, did you build up a ball on plate system in gazebo and would you like to share it??! 2f4yor@gmail.com

2018-02-03 14:19:39 -0600 received badge  Enthusiast
2018-02-02 09:33:13 -0600 received badge  Notable Question (source)
2018-02-02 08:44:43 -0600 edited question Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd

Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd Hey there, I just simulated a ballbot in gazebo.

2018-02-02 08:41:03 -0600 commented question Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd

Thanks :) Yeah I would appreciate that if you have a look on it :)

2018-02-02 08:32:58 -0600 received badge  Popular Question (source)
2018-02-01 10:54:24 -0600 received badge  Nice Question (source)
2018-02-01 09:24:48 -0600 edited question Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd

Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd Hey there, I just simulated a ballbot in gazebo.

2018-02-01 09:23:42 -0600 asked a question Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd

Simulation of a Ballbot (Omniwheeled Robot Simulation) Choosing Kp, Kd Hey there, I just simulated a ballbot in gazebo.

2017-12-18 02:50:40 -0600 answered a question Timing / Synchronisation between Gazebo and ROS

According to this example here: http://gazebosim.org/tutorials?tut=drcsim_control_sync&cat= I just set the use_sim_t

2017-12-04 03:11:41 -0600 commented question Modeling Omni Wheels

Hey Gwen can you share your whole omni wheel project somewhere? I would like to try and test it.

2017-12-03 04:22:19 -0600 commented answer Parameters for a skid steering/simulated tracked robot (use of the fdir1 tag)

Hey peci1 I also would like to model omni-wheels do you have a complete working example?

2017-11-21 12:46:44 -0600 received badge  Famous Question (source)
2017-11-16 13:57:04 -0600 commented answer How to support additional sdf elements (<ode>, <bullet>, <bounce>, etc) in urdf file using the <gazebo> tag

All right :) Thanks a lot! Thats great I just use all the values from the table as a shortcut and the rest I just imple

2017-11-16 10:27:08 -0600 received badge  Nice Question (source)
2017-11-16 10:18:53 -0600 received badge  Notable Question (source)
2017-11-16 10:02:28 -0600 marked best answer How to support additional sdf elements (<ode>, <bullet>, <bounce>, etc) in urdf file using the <gazebo> tag

Hey there,

I would like to use ROS and urdf to simulate my robot. (I do not want to use any sdf files). However I have a given sdf file and now try to convert it to urdf. Now my problem is that in the sdf file there are multiple physics engines used ( ode and bullet). Does anyone know how to convert that to urdf? Cause according to this http://gazebosim.org/tutorials/?tut=r... Tutorial (under <gazebo> Elements For Links) There is only a very limited table of what is possible to add in gazebo references.</gazebo>

This is a snippet of my sdf file I would like to convert to urdf:

 <collision name='body_collision'>
    <laser_retro>0</laser_retro>
    <max_contacts>10</max_contacts>
    <pose frame=''>0 0 0 0 -0 0</pose>
    <geometry>
      <mesh>
        <uri>model://ballbot/meshs/body.stl</uri>
        <scale>0.001 0.001 0.001</scale>
      </mesh>
    </geometry>
    <surface>
      <friction>
        <ode>
          <mu>0</mu>
          <mu2>0</mu2>
          <fdir1>0 0 0</fdir1>
          <slip1>0</slip1>
          <slip2>0</slip2>
        </ode>
        <torsional>
          <coefficient>1</coefficient>
          <patch_radius>0</patch_radius>
          <surface_radius>0</surface_radius>
          <use_patch_radius>1</use_patch_radius>
          <ode>
            <slip>0</slip>
          </ode>
        </torsional>
      </friction>
      <bounce>
        <restitution_coefficient>0</restitution_coefficient>
        <threshold>1e+06</threshold>
      </bounce>
      <contact>
        <collide_without_contact>0</collide_without_contact>
        <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
        <collide_bitmask>1</collide_bitmask>
        <ode>
          <soft_cfm>0</soft_cfm>
          <soft_erp>0.2</soft_erp>
          <kp>1e+13</kp>
          <kd>1</kd>
          <max_vel>0.01</max_vel>
          <min_depth>0</min_depth>
        </ode>
        <bullet>
          <split_impulse>1</split_impulse>
          <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
          <soft_cfm>0</soft_cfm>
          <soft_erp>0.2</soft_erp>
          <kp>1e+13</kp>
          <kd>1</kd>
        </bullet>
      </contact>
    </surface>
  </collision>

I currently did it like this:

  <gazebo reference="base_link">
<material>Gazebo/DarkGrey</material>
<gravity>1</gravity>
<maxVel>0.01</maxVel>
<minDepth>0</minDepth>
<mu1>0.0</mu1>
<mu2>0.0</mu2>
<fdir1>0 0 0</fdir1>
<kp>1e+13</kp>
<kd>1.0</kd>
<selfCollide>0</selfCollide>
<maxContacts>10</maxContacts>
<laserRetro>0</laserRetro>
</gazebo>

With josephcoombe hint I now did the following:test.urdf:

<?xml version="1.0"?>
<robot name ="myrobot" xmlns:xacro="http://ros.org/wiki/xacro">

      <link name="wheel2_link">
         <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
               <mesh filename="package://....stl" scale="0.001 0.001 0.001" />
            </geometry>
            <cast_shadows>1</cast_shadows>
            <transparency>0</transparency>
            <material name="light_black" />
         </visual>
         <inertial>
            <origin xyz="0.0 0.0 0.0" />
            <mass value="0.275" />
            <inertia ixx="0.00026602" ixy="0" ixz="0" iyy="0.00019582" iyz="0" izz="0.00029553" />
         </inertial>
         <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
               <mesh filename="package://....stl" scale="0.001 0.001 0.001" />
            </geometry>
         </collision>
      </link>


 <gazebo reference="wheel2_link">
    <maxVel>0.01</maxVel>
    <minDepth>0</minDepth>
    <mu1>0.2</mu1>
    <mu2>0.0</mu2>
    <fdir1>0 0 0</fdir1>
    <kp>1e+13</kp>
    <kd>1.0</kd>
    <selfCollide>0</selfCollide>
    <maxContacts>10</maxContacts>
    <laserRetro>0</laserRetro>
  </gazebo>
</robot>

My result test.sdf file:

<sdf version='1.6'>
  <model name='myrobot'>
    <link name='wheel2_link'>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertial>
        <pose frame=''>0 0 0 ...
(more)