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Rahul Sharma's profile - activity

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2015-06-24 09:34:25 -0500 asked a question DRC Vehicle is not moving after giving velocity to wheel joint

Hello,

I'm currently working on developing algorithms for path planning on DRC Vehicle. For that I used the existing plugin and did some changes in it. I have been able to control the steering via command SetAngle on steering joint but when I give velocity via SetVelocity to rear wheel joints, the vehicle is stationary.

I have added the following in the existing plugin in Load part

if (!ros::isInitialized())
{
int argc = 0;
char** argv = NULL;
ros::init(argc, argv, "hello");
 }
 rosnode_ = new ros::NodeHandle( node_namespace_ )
 cmd_vel_sub_ = rosnode_->subscribe("/cmd_vel", 1, &DRCVehiclePlugin::OnCmdVel, this );

And the following I added after the Updates

 void DRCVehiclePlugin::OnCmdVel( const geometry_msgs::TwistConstPtr &msg)
 {
 this->lastTime = this->world->GetSimTime();
 double vr, va;
 vr = msg->linear.x;
 va = msg->angular.z;


this->brWheelJoint->SetVelocity(0, 10);
this->handWheelJoint->SetAngle(0, 2*atan (va*1.88/(sqrt(vr*vr -va*va*.85*.85))));
}

The handwheel joint is working but the brwheeljoint is not moving. I don't know why this thing is not working, If anyone have solved this sort of problem kindly help me. A little help would be appreciated.

Thank You

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2015-03-10 08:34:25 -0500 asked a question Strange IMU data using libgazebo_ros_imu.so

Has anyone got the solution of this problem, Please help

Thanks in advance Regards, Rahul

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2015-01-04 19:24:11 -0500 asked a question Invalid <param> tag: Cannot load Husky into gazebo

Hello, I am currently running the Husky packages on gazebo-4.0. It worked fine till yesterday, but when I run it again using roslaunch it shows following error

 rahul@rahul-pc:~/husky_ws$ roslaunch husky_gazebo husky_empty_world.launch 
... logging to /home/rahul/.ros/log/014e7106-9478-11e4-b211-a4db30d7dfe6/roslaunch-rahul-pc-4352.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/indigo/share/xacro/xacro.py", line 60, in <module>
    xacro.main()
AttributeError: 'module' object has no attribute 'main'
while processing /home/rahul/sample_ws/src/husky_gazebo/launch/base.urdf.gazebo.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py        '/home/rahul/sample_ws/src/husky_description/urdf/base.urdf.xacro'          gps_enabled:=true         imu_enabled:=true  front_laser:=true     ] returned with code [1]. 

Param xml is <param command="$(find xacro)/xacro.py        '$(find husky_description)/urdf/base.urdf.xacro'          gps_enabled:=$(arg gps_enabled)         imu_enabled:=$(arg imu_enabled)  front_laser:=$(arg front_laser)     " name="robot_description"/>
The traceback for the exception was written to the log file

I don't know how to solve this problem. A little help would be appreciated. Thank you for your useful time

Regards,

Rahul

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2014-12-12 09:15:43 -0500 asked a question unable to install gazebo-4.1 from source

gazebo: error while loading shared libraries: libgazebo_common.so.4: cannot open shared object file: No such file or directory

the solution given by wiki page echo '/usr/local/lib' | sudo tee /etc/ld.so.conf.d/gazebo.conf sudo ldconfig doesn't work......what to do ?

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2014-11-22 09:57:55 -0500 commented answer Not able to get topic list in gazebo4

Too late, but thanks for that

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2014-10-13 05:27:54 -0500 asked a question Not able to get topic list in gazebo4

Hello all, I'm currently working on gazebo4. As like in gazebo 1.9.6 i'm not able to get the topics list using gztopic list command in gazebo4.Can anyone tell me right command to get topics list?

thank you

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2014-09-26 15:35:03 -0500 asked a question How add a jpeg file to gazebo

Hello, I am working on Gazebo 4 and I want to add a 2D environment consisting of roads, lanes etc.I have made a jpeg file which include all this, how can I add that file in gazebo as world. Thanks

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2014-09-16 13:23:31 -0500 commented answer Not able to Publish hokuyo data in ROS

Hello Zeng, thanks for giving answer but I still struggling with the same problem

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2014-09-15 05:14:14 -0500 asked a question Not able to Publish hokuyo data in ROS

Hello,

I would like to publish laser scans, that are performed by e.g the Hokuyo Model in Gazebo to ROS. I have tried this with Fuerte and Hydro without success.

I used this materials: Gazebo 1.9 ROS Hydro Ubuntu 12.04

I then started Gazebo with this command

roslaunch gazeboros emptyworld.launch

This then gives me these topics in ROS

rostopic list

/clock

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/setlinkstate

/gazebo/setmodelstate

/rosout

/rosout_agg

In Gazebo I added the Hokuyo model which is already included. I can see the scanarea indicated in blue. I can'T see any new topic in ROS. I can see in the model.sdf that it uses the libRayPlugin.so Plugin. Furthermore I noticed that a topic tag is missing inside the sensor tag. I added one. Still no publishing.Thas how the sensor section model.sdf of the Hokuyo looks like

    <plugin name="laser" filename="libRayPlugin.so" />
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>true</visualize>
  </sensor>

How should I solve it? Thank You

2014-09-15 04:57:59 -0500 asked a question Not able to Publish hokuyo data on ROS

Hello,

I would like to publish laser scans, that are performed by e.g the Hokuyo Model in Gazebo to ROS. I have tried this with Fuerte and Hydro without success.

I used this materials: Gazebo 1.9 ROS Hydro Ubuntu 12.04

I then started Gazebo with this command

roslaunch gazeboros emptyworld.launch This then gives me these topics in ROS

rostopic list /clock /gazebo/linkstates /gazebo/modelstates /gazebo/parameterdescriptions /gazebo/parameterupdates /gazebo/setlinkstate /gazebo/setmodelstate /rosout /rosout_agg In Gazebo I added the Hokuyo model which is already included. I can see the scanarea indicated in blue. I can'T see any new topic in ROS. I can see in the model.sdf that it uses the libRayPlugin.so Plugin. Furthermore I noticed that a topic tag is missing inside the sensor tag. I added one. Still no publishing.Thas how the sensor section model.sdf of the Hokuyo looks like

<sensor name="laser" type="ray"> <pose>0.01 0 0.0175 0 -0 0</pose> <topic>~/laser_scan</topic> <ray> <scan> <horizontal> <samples>640</samples> <resolution>1</resolution> <min_angle>-2.26889</min_angle> <max_angle>2.268899</max_angle> </horizontal> </scan> <range> <min>0.08</min> <max>10</max> <resolution>0.01</resolution> </range> </ray>

    <plugin name="laser" filename="libRayPlugin.so" />
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>true</visualize>
  </sensor>
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2014-08-29 10:30:49 -0500 asked a question How should I uninstall gazebo-3.0.0

I've tried sudo apt-get remove gazebo* but when i try Gazebo and pressed Tab it is like this rahul@rahul-ideapad-Z510:~$ gazebo
gazebo gazebo-3.0.0
rahul@rahul-ideapad-Z510:~$

This means gazebo3 is already there, how should i remove this