ali_mohandes's profile - activity

Thanks a lot. I used gzfactory and it worked. I appreciate your help.

Sure, it is ROS Hydro and Gazebo -1.9

Hi all,

So I am using roslaunch command to simulate a simple Gazebo world file which contains some cubic obstacles. I have a question which I have not been able find any solution for: Once the simulation is up and running, can I add any objects to Gazebo simulation without having to use the graphical user interface? I am using ROS Hydro and Gazebo-1.9.

I would appreciate any kind of help.

Cheers,

Ali

Hi all,

So, I basically want to implement a path planning algorithm by simulating a scenario in "ROS-Gazebo" and I am using "ROS Hydro-Gazebo 1.9" distributions. My algorithm assumes that the robot is omni-directional i.e., it can move in both x and y coordinates, independently. As I have found out, "pr2" and "care-o-bot" are two robots that offer omni-directional motion. The only feature that I need from them is the omni-directional wheels and other features such as laser, arm, etc. are not needed. I would also need to get the odometry data.

Problem: I am not aware of any control plugin or library to control and move the "pr2" in "ROS Hydro-Gazebo 1.9". I am able to bring up the "pr2" in "Gazebo" using "roslaunch" command. But I cannot control it and move it around. To give an idea of what I want, in another case I am able to control a pioneer2dx using a differential drive controller plugin (libgazeborosdiff_drive.so). I wonder if such a thing exists for "pr2". If not, is there any other solutions to my problem?

I would greatly appreciate any helps towards finding a solution for my problem.

Thanks,

Ali