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2017-09-28 12:53:01 -0500 marked best answer gazebo binary version for ROS with self collision bug fixed


Does anybody knows when if there will be a binary version of Gazebo with the self collision bug fixed for ROS users?

Or some tips how to install gazebo from source under ROS.

Thanks, Andrei

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2017-04-25 03:10:37 -0500 answered a question How to create a joint with sensor programatically?

Hi there, you could use the logic from to create dynamically soft breakable joints. See fixedJoint as exampl

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2017-03-12 20:12:33 -0500 marked best answer How to shutdown gazebo from a plugin?


how would one safely terminate gazebo from a plugin?

Calling gazebo::shutdown() kills it but not in a nicely fashion (errors appear in the terminal)

Thanks, Andrei

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2016-06-21 02:43:18 -0500 marked best answer After changing a links Inertial values dynamically, its behavior does not change.


I am using Gazebo 1.8.0. In a plugin I am changing the Inertial values of some links, even though the values change, their behavior stays the same in the simulation.
Do I have to re-load them somehow?

Here is the code snippet how I set the values:

this->link->GetInertial()->SetInertiaMatrix(new_inertia, new_inertia, new_inertia, 0, 0, 0);

Thanks, Andrei

2016-05-13 08:20:58 -0500 answered a question The image element in SDF does not spawn anything and does not give any error as well. How do I work around it?

Hi there,

start gazebo with the --verbose tag (it will give you more terminal outputs):

$ gazebo --verbose

What output do you get?

Cheers, Andrei

2016-03-30 07:00:23 -0500 commented question Robot base slowly drifting

Check if the inertia values are correct, and try playing with those a bit, increasing the mass might help as well.

2016-02-15 09:41:44 -0500 answered a question bug in gazebo::physics::Model::GetJointCount ()

Hi there,

Which gazebo version are you using? I thought this issue was fixed in a newer version, here is an Issue with some discussion about it.

2016-02-15 09:35:29 -0500 answered a question Bounding Box not updated

Hi, this might be related to this older issue. Give it some votes, it might get fixed faster.

Cheers, Andrei

2016-02-15 09:33:27 -0500 answered a question destroy a dynamically created joint?

Hi there,

here is an example of reseting and removing a joint:

// removing and detaching joint

It should probably work with only Fini() as well, but I think I had some issues at one point so I just called everything, just to be sure :)

2016-01-19 04:42:17 -0500 answered a question Error Installing Gazebo from Source in a Catkin ws on Linux: Cannot find -lccd

Hi there,

starting gazebo6: "Support for DART version 5.0 is integrated into the default branch.", so Optional Physics Engines: Dart Support is no longer "Optional"?.

Try running these in your terminal:

# Only needed on Trusty. Ubuntu packages since Utopic.
sudo apt-add-repository ppa:libccd-debs
sudo apt-add-repository ppa:fcl-debs

# Main repository
sudo apt-add-repository ppa:dartsim
sudo apt-get update
sudo apt-get install libdart-core5-dev

Source: Installation tutorial.

Cheers, Andrei

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2016-01-12 09:27:28 -0500 commented answer Some contacts not detected

Well both might work, depending on how you want to get to the contacts.But I think there was a difference between them, however I cannot recall it anymore :)

2016-01-11 04:05:44 -0500 answered a question Controlling a robot (ragdoll) programmtically

Hi there,

here you can take a look at the gazebo joint API. Especially at setForce, or setPosition.


2016-01-11 04:01:46 -0500 commented answer Debugging when all Links snap to origin

it probably not that large at the beginning, but it might grow a lot in the proceeding simulation steps (you might be able to visualize this if you pause and then step into the simulation)

2016-01-11 03:57:37 -0500 answered a question Some contacts not detected

Hi there,

I also noticed something similar, in a plugin, if you do not subscribe to the contacts topic then the contact manager does not have any contacts (myContactManagerPtr->GetContacts()).

myContactSub = my_gz_node->Subscribe("~/physics/contacts", &MyPluginClass::DummyContactsCallback, this);

Another thing that might cause the problem, if the contacts do not change for a given amount of time they are not published anymore (you can check this by spawning a box in an empty world, visualize the contacts, and after a while they disappear)

Cheers, Andrei

2016-01-06 05:13:50 -0500 commented question Connect two youbots with a wire cable

So you want to connect the two robots with the wire cable? You can dynamically create joints via a plugin between the robots a given cable link.

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2015-12-14 15:25:15 -0500 commented question Gazebo cannot start with camera

Does an empty world work for you?

2015-12-08 03:39:20 -0500 commented question Intermittent segmentation fault possibly by custom WorldPlugin attaching and detaching child

Glad it worked! When you have the time you should probably write an answer with the workaround and mark it as solved. It might help others as well. Also a bug report where you point to this question can help as well. ``

2015-12-07 13:29:57 -0500 commented answer Perform one simulation step

Hi, (you can edit your first answer when you need to add extra information), the topic you are looking for is a gazebo topic, they work pretty similarly to ros topics. So try the command ` gz topic -l ` to view the topics. To test the sent messages you can `echo` the topic and then pause/play/step into the simulation from the GUI to see the relevant messages.

2015-12-07 09:39:40 -0500 answered a question Perform one simulation step

Hi there,

as @scpeters mentioned in the other question you could publish gazebo world_control messages on the ~/world_control topic. You start the simulation paused and you send a message with step = true to step once in the simulation.

Cheers, Andrei

2015-12-07 02:31:48 -0500 commented question Intermittent segmentation fault possibly by custom WorldPlugin attaching and detaching child

Maybe its worth doing this via a gazebo plugin plugin, there are examples on attaching and detaching joints in the Gripper example: Maybe it is even worth comparing this code with the ROS plugin version which listens to the service call for creating the joint

2015-12-05 03:49:35 -0500 commented question Intermittent segmentation fault possibly by custom WorldPlugin attaching and detaching child

I would say bug in gazebo, since you are calling a ros service to attach detach joints, there is nothing else you can do, and especially that it crashes only after some time. I would suggest trying out the new gazebo versions, last time I managed to get gazebo 5 running with ROS.

2015-12-04 03:36:38 -0500 commented question Intermittent segmentation fault possibly by custom WorldPlugin attaching and detaching child

well it does sound like some bug, which gazebo version are you using?

2015-12-03 03:46:30 -0500 commented question Intermittent segmentation fault possibly by custom WorldPlugin attaching and detaching child

About how many attach / detaches happen during these 10 minutes?

2015-11-27 04:23:24 -0500 commented answer Failed to load plugin undefined symbol

did you look over the gazebo-ros tutorials, there are many working examples and explanations there

2015-11-27 03:16:07 -0500 commented answer Failed to load plugin undefined symbol

ros or gazebo publisher/subscriber?

2015-11-26 15:37:37 -0500 answered a question Failed to load plugin undefined symbol

Hi there,

the error appears because the plugin was not correctly linked. You probably missing a link_directories variable.

I would just start with the given working plugins from the tutorials, and grow from there. Here is the link:

Cheers, Andrei

2015-11-25 08:43:41 -0500 commented question Why are contacts so unstable?

Thats how contacts look for me as well under ODE. I think with bullet I used to get stable contacts, however other issues appeared, maybe it works for you.

2015-11-23 02:22:00 -0500 answered a question How to draw the trail of a cleaning robot?


you basically need to see if it is possible to do this in OGRE, maybe you can draw some thick transparent lines on the floor.

To access OGRE you need to use a visual or a gui plugin. Here is an example of a gui plugin.

Cheers, Andrei

2015-11-20 01:07:17 -0500 answered a question Getting bounding box of model(object)


you will probably need to write a plugin where you can query for the bounding box.

math::Box my_bb = my_model->GetBoundingBox()

Cheers, Andrei