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2014-05-31 14:23:12 -0500 answered a question Does gazebosim support gyroscopic effect?

Thank you for your help. Nice. I tested it and I suppose it is not enabled, what is not bad. It was just important to know. I have solved this by an own approach, what is perfectly suitable for my application. Will future versions of the gazebo API support this enable/disable gyroscopic effect functions?

2014-05-31 14:19:08 -0500 answered a question strange IMU sensor behaviour

Hm, I still have no sulution about this.

Does nobody else face this problem, or do you need more information? I would be really relieved if you can help me out.

Kind regards andi

2014-05-18 04:27:45 -0500 asked a question strange IMU sensor behaviour

I have an IMU in my model. I have the following behaviour:

  • I apply a force in z-direction bigger than g to a the model. The body is lifted and the IMU shows the correct acceleration in z-direction.
  • Additionally I add a torque in x-direction to the same model after it has been lifted after some time. The body will sink since the force on the body in z-direction is split in a component, which lifts the body and a component, which accelerates the body in x-direction. Also this increasing acceleration in x-direction is being shown correctly by the IMU sensor.
  • When I now remove all forces, the body falls on the floor. But now I encountered the problem, that the IMU in x-direction oszillates +/- around the last value the IMU had, before it hits the ground.

What could be the reason for this? Actually the acceleration in x-direction should be set zero by the end, since the acceleration on the body in x-direction should have been neutralized by the friction.

Kind regards andi

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2014-04-13 10:29:57 -0500 asked a question Does gazebosim support gyroscopic effect?

Does gazebosim support gyroscopic effect on rotating masses? If yes, which physics engine does support this?

Kind regards Andi

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2014-02-10 16:19:02 -0500 asked a question How can sensor and model be accessed both by one peace of code?


I read the plugin tutorial:

Here it says that there are four types of plugins - world - model - sensor - system. It further says that each plugin is a compiled shared library. Its path is added to LDLIBRARYPATH (so it will be found by gazebosim) and its name is given to the sdf file at the according position (world/model/sensor/system). I tested this for both, a sensor plugin and a model plugin. It could successfully read sensor values by my code and also could control the model. It works fine.

Now I want write an algorithm which reads sensor values and uses them to control the model in a certain way. However I am puzzled how to do this.

Is it possible to write a plugin containing code, that controls both, the sensor and the model at the same time?

I would be pleased if you have any idea how to do this.

Kind regards Andi

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2014-02-01 22:04:20 -0500 answered a question Which physics engine is used by gazebosim?

Thank you. This information is very helpful.

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2014-01-31 13:39:25 -0500 answered a question Which physics engine is used by gazebosim?

Thank you. I am new to gazebosim. I figured out how to change the physics engine by a world-plugin. But since ODE is the one I want, I will try to avoid writing a world-plugin for now and and concentrate on the model-plugins.

2014-01-31 07:35:29 -0500 asked a question Which physics engine is used by gazebosim?

Gazebo supports 4 physics engines. How do I find out which one of these four my compilation is using?

I would be pleased if you can help me out.

Kind regards Andi