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2016-03-20 14:16:27 -0500 commented question Different Visualization in Gui and ImageView

The issue is that camera visualization does not take into consideration additional lighting effects. I observed this in my world where despite changing the scene lights, and adding fog, the camera still shows the unaltered world.

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2014-06-05 15:13:11 -0500 asked a question Problems in simulating a tracked vehicle and spawning the model


I am making a tread drive in which I am simulating the motion of a track as composed of:

  • 2 pieces of straight chains comprised of small links
  • 2 pieces of semicircular chain wrapped around the wheel.

I am facing the following problems:

  • The wheel does not stand on the chain, but sinks into it.
  • How do I make one chain(the straight or the arc one) slide against a rotating wheel? Currently, the system becomes unstable as soon as the model is spawned. I am using a prismatic joint, which appears wrong to me.
  • How do I move away from the fixed angle(180 degrees) of wrapped chain into a more general approach? I have a few ideas, but am not sure about their validity:
    • Make the whole chain as sdf file in the required shape(brute force)
    • Use a xacro to make the sdf file. However, I am not sure if a xacro is the right approach since I am be working on a non-ROS, non-catkin environment.

Also, I know that I can remove the computation by reducing the visual size of the straight parts of the link, but first I want to focus on making the track function properly.

Part of code can be found on pastebin here, however, for the whole set of models, visit the bitbucket repo here

I have seen the following links, but they weren't particularly helpful beyond what I had already deduced


2014-06-05 11:38:01 -0500 commented question Preplexing exception in case of sonar sensor

Hi, sorry for not including the following information: To reproduce the error, simply include the model into another model by using the meta-tag of <include>. It has worked for me, so far.

2014-06-01 06:05:16 -0500 asked a question Preplexing exception in case of sonar sensor


I inserted a sonar sensor in a sdf file to mimic the ultrasonic range sensors. The file can be found here on PasteBin.

I have found out that if I comment the <sensor> </sensor> block, no error is thrown, else the following error is thrown every time any force is applied on it.

Exception [] Invalid geometry element

terminate called after throwing an instance of 'gazebo::common::Exception'

Any suggestions? And yes the sensor type is sonar but I am not getting sonar related data in any other way, except by making the sensor type sonar

I use Gazebo v2.2, sdf v1.4 on Ubuntu 12.04