user1928's profile - activity

Reorient the axes of a model wrt world frame I have inserted the camera provided by osrf into the gazebo simulation worl

Reorient the axes of a model wrt world frame I have inserted the camera provided by osrf into the gazebo simulation worl

Camera in air keeps drifting I've added a camera to the simulation. Its gravity is disabled & it also doesn't touch

Camera in air keeps drifting I've added a camera to the simulation. Its gravity is disabled & it also doesn't touch

How to change pose of a static model I have a model (whose <static> tag is set to 1 in sdf) inserted into the simu

Hello,

I want to use a camera in Gazebo & used the model from https://github.com/osrf/gazebo_models. I changed the pose of the camera in its sdf file as follows (& saved it):

 <pose>0 0 0.5 0 1.5708 1.5708</pose>

But, if I launch gazebo & insert the camera model from GUI & check its properties, I see different roll, pitch & yaw:

What is happening here?

P.S: 1) I'm using Gazebo11 on Ubuntu 20.04

P.S: 2) This is my camera's sdf file(I'm using a plugin to read camera feed in ROS):

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="camera">
    <pose>0 0 0.5 0 1.5708 1.5708</pose>
    <link name="link">
      <gravity>0</gravity>
      <inertial>
        <mass>0.1</mass>
        <inertia>
          <ixx>1.000166667</ixx>
          <iyy>1.000166667</iyy>
          <izz>1.000166667</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor name="camera" type="camera">
        <camera>
          <horizontal_fov>1.047</horizontal_fov>
          <image>
            <width>320</width>
            <height>240</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>true</visualize>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>free_camera</cameraName>
          <imageTopicName>/free_camera/image_raw</imageTopicName>
          <cameraInfoTopicName>/free_camera/camera_info</cameraInfoTopicName>
          <frameName>camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>

Never mind. Both are equivalent representations. Follow the rule: First roll around x, then pitch around y and finally

Mismatch between pose of a model in sdf & simulation Hello, I want to use a camera in Gazebo & used the model f

Mismatch between pose of a model in sdf & simulation Hello, I want to use a camera in Gazebo & used the model f

commenting for better reach

I tried generating the collada (.dae) file with blender but that wasn't required. The one generated with the online conv

I tried generating the collada (.dae) file with blender but that wasn't required. The one generated with the online gene

I want to display an image in the gazebo environment. Looking at a few answers suggested that I've to add an object & lay the image as texture over the object.

I followed what's suggested in the answers of this post, but no avail. Then I created a collada mesh as suggested by this tutorial. Still no luck. The object gets inserted like a grey plane as shown below.

What I did until now:

1) I created a directory for the model with the name ~/.gazebo/models/aruco_marker. This is how the folder looks like:

2) contents of model.sdf:

<?xml version="1.0"?> <sdf version="1.4"> <model name="aruco_marker">   <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>10 10</size>
          </plane>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>100</mu>
              <mu2>50</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <cast_shadows>false</cast_shadows>
        <geometry>
          <plane>
            <normal>0 0 1</normal>
            <size>10 10</size>    </plane>    <mesh>
        <uri>model://aruco_marker/materials/textures/4x4_1000-25_side50.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>model://aruco_marker/materials/scripts/aruco_marker.material</uri>
            <name>MyGroundPlane/Image</name>
          </script>
        </material>
      </visual>
    </link>   </model> </sdf>

3) contents of model.config

<model>
    <name>Aruco Marker</name>
    <version>1.0</version>
    <sdf version="1.4">model.sdf</sdf>
    <description>
        My textured ground plane.
    </description>
</model>

4) contents of materials/scripts/aruco_marker.material

material ArucoMarker/Image
{
  technique
  {
    pass
    {
      ambient 0.5 0.5 0.5 1.0
      diffuse 1.0 1.0 1.0 1.0
      specular 0.0 0.0 0.0 1.0 0.5
      texture_unit
      {
        texture 4x4_1000-25_side50.jpg
        filtering trilinear
      }
    }
  }
}

5) This is the .jpg file:

I generated a .dae file for it using an online converter

Any help is greatly appreciated, thanks!

Thanks, it was helpful. I had another bug in my code. As can be seen in my post above, the name tag within the material

move a camera along spline Hello, I want to capture a static scene from various angles & positions by moving the ca

problem adding an image as texture to an object I want to display an image in the gazebo environment. Looking at a few a