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Transparency property apply to .stl mesh in Gazebo 7.0 Hello, I would like to add the transparency property to an objec

Hi, any suggestions about this issue?

ur5 robot wrist splits with collision Hello, We are working with an UR5 robot and gazebo 7.0. We move the robot with

Thank you very much. I only wanted to know if anyone has experience with this particular graphics card model. From your

Laptop with nVidia Geforce GTX1060 with Gazebo 7 and Ubuntu 16.04 Hello, We are selecting a laptop to run Gazebo 7 (ROS

Hi,

I am working with Gazebo 7 and the file that includes the plugin is a modify version of wireless_sensors.world:

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- Ground -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- Wireless transmitter sensor model -->
    <model name="wirelessTransmitter">
      <static>true</static>
      <pose>0 0 0.025 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessTransmitter" type="wireless_transmitter">
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <essid>osrf</essid>
            <frequency>2442.0</frequency>
            <power>14.5</power>
            <gain>2.6</gain>
          </transceiver>
        </sensor>
      </link>
    </model>
    <!-- Wireless receiver sensor model -->
    <model name="wirelessReceiver">
      <static>true</static>
      <pose>0 -5 0.025 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <visual name="base">
          <geometry>
            <box>
              <size>.05 .05 .05</size>
            </box>
          </geometry>
        </visual>
        <visual name="antenna">
          <pose>0 0 .04 0 0 0</pose>
          <geometry>
            <cylinder>
              <radius>.005</radius>
              <length>.07</length>
            </cylinder>
          </geometry>
        </visual>
        <sensor name="wirelessReceiver" type="wireless_receiver">
                <plugin name="receiver_plugin" filename="libwirelessReceiver.so"/>
          <always_on>1</always_on>
          <update_rate>1</update_rate>
          <visualize>true</visualize>
          <transceiver>
            <min_frequency>2412.0</min_frequency>
            <max_frequency>2484.0</max_frequency>
            <power>14.5</power>
            <gain>2.5</gain>
            <sensitivity>-90.0</sensitivity>
          </transceiver>
        </sensor>
      </link>
    </model>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
  </world>
</sdf>

The received signal has the initial value 14.5, but the gazebo topic (/gazebo/default/wirelessReceiver/link/wirelessReceiver/transceiver) publishes another value:

node {
  essid: "osrf"
  frequency: 2442
  signal_level: -30.926731914521884
}

The message type of this topic is msgs::WirelessNodes but I do not know how to obtain this vaule from sensors::WirelessReceiver sensor.

My final goal is to create a gazebo ros plugin.

Thanks in advance!

Hello, I need to modify the code of WirelessTransmitter sensor in order to use another propagation function. The first thing I tried is to create a pluggin for both WirelessReceiver and WirelessTranmitter sensors. I followed the tutorial: [http://gazebosim.org/tutorials?tut=co...

The code for WirelessReceiverPlugin.hh is:

#ifndef _GAZEBO_WIRELESS_RECEIVER_PLUGIN_HH_
#define _GAZEBO_WIRELESS_RECEIVER_PLUGIN_HH_

#include <string>

#include "gazebo/gazebo.hh"
#include "gazebo/sensors/sensors.hh"

namespace gazebo
{
  /// \brief Plugin for a wireless receiver sensor.
  class WirelessReceiverPlugin : public SensorPlugin
  {
    /// \brief Constructor.
    public: WirelessReceiverPlugin();

    /// \brief Destructor.
    public: virtual ~WirelessReceiverPlugin();

    /// \brief Load the sensor plugin.
    /// \param[in] _sensor Pointer to the sensor that loaded this plugin.
    /// \param[in] _sdf SDF element that describes the plugin.
    public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    /// \brief Callback that receives the wireless receiver sensor's update signal.
    private: virtual void OnUpdate();

    /// \brief Pointer to the contact sensor
    private: sensors::WirelessReceiverPtr parentSensor;

    /// \brief Connection that maintains a link between the contact sensor's
    /// updated signal and the OnUpdate callback.
    private: event::ConnectionPtr updateConnection;
  };
}
#endif

And WirelesReceiverPlugin.cc

#include "WirelessReceiverPlugin.hh"

using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(WirelessReceiverPlugin)

/////////////////////////////////////////////////
WirelessReceiverPlugin::WirelessReceiverPlugin() : SensorPlugin()
{
}

/////////////////////////////////////////////////
WirelessReceiverPlugin::~WirelessReceiverPlugin()
{
}

/////////////////////////////////////////////////
void WirelessReceiverPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/)
{
  // Get the parent sensor.
  this->parentSensor =
    std::dynamic_pointer_cast<sensors::WirelessReceiver>(_sensor);

  // Make sure the parent sensor is valid.
  if (!this->parentSensor)
  {
    gzerr << "WirelessReceiverPlugin requires a WirelessReceiver.\n";
    return;
  }

  // Connect to the sensor update event.
  this->updateConnection = this->parentSensor->ConnectUpdated(
      std::bind(&WirelessReceiverPlugin::OnUpdate, this));

  // Make sure the parent sensor is active.
  this->parentSensor->SetActive(true);

    std::cout << "wirelress receiver active";
}

/////////////////////////////////////////////////
void WirelessReceiverPlugin::OnUpdate()
{
     std::cout << "recieved wireless signal";
     double power = 0.0;
     power = this->parentSensor->GetPower();
     std::cout << power << " \n";

}

I get both plugins, but when I try to use them with wireless_sensor.world some errors arise and the obtained power is not updated as expected.

This is the termnal output:

[Msg] Waiting for master.

[Msg] Waiting for master.

[Msg] Connected to gazebo master @ http://127.0.0.1:11345

[Msg] Connected to gazebo master @ http://127.0.0.1:11345

[Msg] Publicized address: 193.144.228.251

[Msg] Publicized address: 193.144.228.251

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

wirelress transmitter activo

[Wrn] [Event.cc:87] Warning: Deleteing a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
wirelress receiver activo[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_transmitter] not suppported.

[Wrn] [msgs.cc:1685] Conversion of sensor type[wireless_receiver] not suppported.

[Wrn] [Scene.cc:3172] Duplicate visuals detected[wirelessTransmitter_GUIONLY_transmitter_vis]

transmitted wireless signal14.5 

recieved wireless signal14.5 

transmitted wireless signal14.5 

recieved wireless signal14.5

Any suggestions? Thanks in advance

Hello,

I have installed from source gazebo7 in a workpace. I would like to work with ros, so I suppose I need to install gazeb7_ros_pkgs in the same workspace. My ros distribution is Indigo

The osrf repository with gazebo7_ros_pkgs is:

https://github.com/osrf/gazebo7_ros_p...

And I am trying to use git clone -b to download the package to my workspace /src folder but I do not what branch I have to select to obtain the source to be compiled for Indigo.

Any help? Thanks

Teresa

Thank you for your suggestions.

Follow http://gazebosim.org/tutorials?tut=co..., make sure it works for that example sensor, then swap in the WirelessTransmitter code.

It is difficult to do that beacuse the WirelessTransmitter class inherits of Sensor class and this class includes another ones, so there are a lot of dependencies.

Or find the source code to someone else's standalone gazebo sensor repository, make sure you can build it unchanged first, then swap in WirelessTransmitter code. (If you find one of these, or end up making one yourself, post a link to it here)

I did not find any standalone gazebo sensor repository. I think it would be the best option.

Or comment out all the sensors you aren't using from the gazebo repo sensor CMakeLists.txt file, and maybe entire other chunks of gazebo not needed for building just the one sensor, and then make your changes.

Or run the gazebo cmake verbosely in a clean build dir and save all output, then inspect the output for the build commands that involve WirelessTransmitter, and reverse engineer your own standalone cmake from that. This is painful.

I agree with you, it could be very painful.

I downloaded gazebo from osfr and built it from sources using a workspace (following this tutorial http://gazebosim.org/tutorials?tut=in...) and after several build errors that I had to fix manualy, I got it. The purpose of doing this is to have all the code available to do any change. The problem now is how to use ROS with the installed gazebo in the workspace. Moreover, I am working with Indigo and the gazebo in the workspace is the last version (Gazebo7), so I supponse I have to work with different gazebo_ros_pkg.

Has anyone worked like that?

Thanks in advance

Hello,

I would like to modify the behaviour of a gazebo sensor, in particular wireless sensor. The headers are in:

/usr/include/gazebo-5.1/gazebo/sensors

in particular, I would like to change the code of WirelessTransmitter. This folder only includes the .hh files, for example WirelessTransmitter.hh.

I downloaded from osrf (https://bitbucket.org/osrf/gazebo/dow..., default brach ) the code of all the sensors but I do not how to recompile only the sensor that I am interested in.

Any suggestions?

Best regards,

Teresa

Thank you very much.

Thank you very much!

Thank you very much for your answer. Is it possible to use urdf files with gazebo and groovy or only sdf files?

Hello,

I have just installed ros-groovy and when I try to run the gazebo example:

roslaunch gazebo_worlds empty_world.launch

there is no problem, but if I try to lauch any of the other examples with:

roslaunch gazebo_worlds office_world.launch

I have some errors:

Msg Waiting for master.Warning [parser.cc:377] SDF has no <sdf> element in
file[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world]
Error:   Could not find the 'robot' element in the xml file
         at line 59 in
/tmp/buildd/ros-groovy-urdfdom-0.2.7-0precise-20130326-0224/urdf_parser/src/model.cpp
Error [parser_urdf.cc:1814] Unable to call parseURDF on robot model
Warning [parser.cc:377] SDF has no <sdf> element in file[urdf file]
Error [parser.cc:291] parse as old urdf model file failed.
Error [Server.cc:253] Unable to read sdf
file[/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world]
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 29155, exit code 139, cmd
/opt/ros/groovy/stacks/simulator_gazebo/gazebo/scripts/gazebo
/opt/ros/groovy/stacks/simulator_gazebo/gazebo_worlds/worlds/simple_office.world
__name:=gazebo
__log:=/home/tseco/.ros/log/a6bdf53c-eae5-11e2-9efd-3cd92b6f7a37/gazebo-2.log].
log file:
/home/tseco/.ros/log/a6bdf53c-eae5-11e2-9efd-3cd92b6f7a37/gazebo-2*.log

The gazebo version installed is 1.5.

Any suggestions?

Best regards,