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2013-09-06 08:23:28 -0500 commented answer DRCSim ROS Version Moving Forward

All of our development thus far has been in fuerte, and we were not planning on upgrading before DRC. However from the sounds of it we will need to, in order to continue using the simulator.

2013-09-05 14:22:25 -0500 asked a question DRCSim ROS Version Moving Forward

Prior to VRC we were using ROS Fuerte with DRCSim. It looks now from the roadmap ( ) that this is no longer supported.

Am I correct in interpreting the roadmap that in order to use the "drcsim" package we will have to ourselves be using ROS Groovy?

Does this mean we can build drcsim from source and still use fuerte? Or will we be required to use groovy?

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2013-05-18 10:40:48 -0500 asked a question Gazebo 1.8 & DRCSim 2.6 doesn't see new DRC World models

After updating to the newest Gazebo & DRCSim I am encountering issues downloading the proper models from the models database for the DRC Worlds.

I have deleted the .gazebo/models directory. I have also tried updating the GAZEBO_MASTER_URI to point to the models_latest which allows me to download some, but not all, of the newest models. (e.g. It still can not find mud_box)

I'm not sure if this is something strange since I am behind a proxy server, but when I look at the URL with my browser everything looks okay. Is there somewhere that the contents of the online models database is cached? Is there some other error that I'm encountering? Is this a bug?

Screenshot Here:

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2013-01-03 17:35:09 -0500 asked a question DRCSim 1.2/1.3 With Gazebo Crashes often when moving the base using cmd_vel topic

Using either DRCSim 1.2 or 1.3 compiled from source with Gazebo 1.3.1 I experience gazebo exiting when I move the robot's pinned pelvis around using the /cmd_vel topic. (1.3 is /atlas/cmd_vel)

I've noticed that this seems to usually happen when the robot is slowing down and almost stopped, but that is probably just a coincidence. I've tried running gazebo in gdb but it just says that the process exits cleanly, so I can't get any sort of stack trace.

Edit: I also think its worth mentioning that the Hokuyo is spinning while the robot is moving around.

Edit2: Okay, I found the reason I wasn't getting a stacktrace is because the gdb was attached to the gzclient and not gzserver (since I was running gdb gazebo, and it forks both off). I've been able to generate the crash with the stack trace posted here:

Edit3: I'm pretty sure this is a bug, and I've reported it.

The crash is in heightfield.cpp, and I should mention that I am using the drc_sim_v0.launch launch file in atlas_utils.