sam's profile - activity

It can show table1(model),table2(model) but failed to show cereal_box(sdf).

I use gzsdf to translatefrom model file to sdf.

   rosrun gazebo gzsdf print cereal_box.model > cereal_box.sdf

vim t1.launch

  <launch>

    <!-- start up empty world -->
    <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen">
      <env name="GAZEBO_RESOURCE_PATH" value="$(find pr2_ogre):$(find gazebo_worlds):$(find pr2_description):$(find gazebo_worlds):$(find gazebo)/gazebo/share/gazebo:." />
    </node>

    <!-- send urdf to param server -->
    <param name="table1" textfile="/home/sam/code/ros/temp/ccrl_table.model" />
    <node name="spawn_table1" pkg="gazebo" type="spawn_model" args="-gazebo -param table1  -x 0 -y -0.6 -z 0.0 -R 0 -P 0 -Y 0 -model table1" respawn="false" output="screen" />

    <param name="table2" textfile="/home/sam/code/ros/temp/ccrl_table.model" />
    <node name="spawn_table2" pkg="gazebo" type="spawn_model" args="-gazebo -param table2  -x 0 -y 0.6 -z 0.0 -R 0 -P 0 -Y 180 -model table2" respawn="false" output="screen" />

    <param name="cereal_box" textfile="/home/sam/code/ros/temp/cereal_box.sdf" />
    <node name="spawn_cereal_box" pkg="gazebo" type="spawn_model" args="-sdf -param cereal_box  -x 0.35 -y -0.5 -z 0.715 -R 0 -P 0 -Y 0 -model cereal_box" respawn="false" output="screen" />

    <!-- start gui -->
    <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
  </launch>                              

  sam@sam:~/code/ros/temp$ optirun roslaunch ./t1.launch 
  ... logging to /home/sam/.ros/log/0d9f8da6-388f-11e2-aeff-e0b9a5f829db/roslaunch-sam-4621.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.

  started roslaunch server http://sam:48406/

  SUMMARY
  ========

  PARAMETERS
   * /robot_description
   * /rosdistro
   * /rosversion
   * /table1
   * /table2

  NODES
    /
      gazebo (gazebo/gazebo)
      gazebo_gui (gazebo/gui)
      spawn_cereal_box (gazebo/spawn_model)
      spawn_table1 (gazebo/spawn_model)
      spawn_table2 (gazebo/spawn_model)

  auto-starting new master
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[master]: started with pid [4646]
  ROS_MASTER_URI=http://localhost:11311

  setting /run_id to 0d9f8da6-388f-11e2-aeff-e0b9a5f829db
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[rosout-1]: started with pid [4659]
  started core service [/rosout]
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[gazebo-2]: started with pid [4671]
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[spawn_table1-3]: started with pid [4677]
  Gazebo multi-robot simulator, version 1.0.2
  Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors.
  Released under the Apache 2 License.
  http://gazebosim.org

  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[spawn_table2-4]: started with pid [4679]
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
  process[spawn_cereal_box-5]: started with pid [4692]
  Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading ...

I use ROS Groovy and ubuntu 12.04.

I can successfully adding a table on gazebo.

I also can spawn a coke_can object stable without falling down on a table.

But when I spawn the testtubeshelf.urdf, it fall down everytime.

How to fix it?

Thank you~

The following is the details.

coke_can.urdf :

<robot name="coke_can_model">
  <link name="coke_can">
    <inertial>
      <mass value="0.1" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0.06" /> 
      <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"  izz="0.1" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 -0.18" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/coke_can.dae" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="coke_can">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
    <kp>100000000.0</kp>
    <kd>1000000.0</kd>
  </gazebo>
</robot>

Here is the dae file link.

testtubeshelf.urdf :

<robot name="test_tube_shelf_model">
  <link name="test_tube_shelf">
    <inertial>
      <mass value="0.1" />
      <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0.06" /> 
      <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"  izz="0.1" />
    </inertial>
    <visual>
      <!-- visual origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <!-- collision origin is defined w.r.t. link local coordinate system -->
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://sam_pr2_lab_auto_scene_6/urdf/test_tube_shelf.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
  </link>
  <gazebo reference=" test_tube_shelf ">
    <material>Gazebo/Red</material>
    <turnGravityOff>false</turnGravityOff>
    <kp>100000000.0</kp>
    <kd>1000000.0</kd>
  </gazebo>
</robot>

testtubeshelf.dae :

<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  <asset>
    <contributor>
      <author>Blender User</author>
      <authoring_tool>Blender 2.65.0 r52859</authoring_tool>
    </contributor>
    <created>2014-07-25T10:15:56</created>
    <modified>2014-07-25T10:15:56</modified>
    <unit name="meter" meter="1"/>
    <up_axis>Z_UP</up_axis>
  </asset>
  <library_images/>
  <library_effects/>
  <library_geometries>
    <geometry id="Square_Rack-mesh" name="Square Rack">
      <mesh>
        <source id="Square_Rack-mesh-positions">
          <float_array id="Square_Rack-mesh-positions-array" count="672">-17.625 -11.75 0 -17.625 -11.75 25 -17.625 11.75 0 -17.625 11.75 25 17.625 -11.75 0 17.625 -11.75 25 17.625 11.75 0 17.625 11.75 25 -10.79494 -11.29144 25 0.9550991 11.2914 25 10.7949 11.2914 25 -12.70507 -11.29144 25 -14.5 -10.63814 ...

I use ROS groovy on ubuntu 12.10 64 bits.

I can't upload the picture of gazebo.

Does anyone help me how to upload?

The message I got is:

sam@sam:~/code/ros_groovy/src$ roslaunch gazebo_worlds empty_world.launch
... logging to /home/sam/.ros/log/c6d55390-5e8c-11e3-ab5a-20cf30a23845/roslaunch-sam-1437.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.

started roslaunch server http://sam:56416/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    gazebo (gazebo/gazebo)
    gazebo_gui (gazebo/gui)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[gazebo-1]: started with pid [1455]
process[gazebo_gui-2]: started with pid [1460]
Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.5.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
[ INFO] [1386660366.853533724]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.101

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.0.101
[ INFO] [1386660368.375304123, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1386660368.404689916, 0.051000000]: Starting to spin physics dynamic reconfigure node...
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/camera/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/camera]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/cinder_block_2/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/cinder_block_2]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/construction_barrel/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/construction_barrel]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/create/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/create]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/cube_20k/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/cube_20k]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/double_pendulum_with_base/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to get model name[http://gazebosim.org/models/double_pendulum_with_base]
Warning [ModelDatabase.cc:179] Unable to connect to model database using [http://gazebosim.org/models/drc_practice_2x4/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:344] Unable to ...

I run

roslaunch pr2_gazebo pr2_empty_world.launch

It shows:

sam@sam:/opt/ros$ roslaunch pr2_gazebo pr2_empty_world.launch 
... logging to /home/sam/.ros/log/35026a8e-4ae6-11e3-9bc0-20cf30a23845/roslaunch-sam-15560.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.

started roslaunch server http://sam:33606/

SUMMARY
========

PARAMETERS
 * /base_controller/bl_caster_l_wheel_joint/d
 * /base_controller/bl_caster_l_wheel_joint/i
 * /base_controller/bl_caster_l_wheel_joint/i_clamp
 * /base_controller/bl_caster_l_wheel_joint/p
 * /base_controller/bl_caster_r_wheel_joint/d
 * /base_controller/bl_caster_r_wheel_joint/i
 * /base_controller/bl_caster_r_wheel_joint/i_clamp
 * /base_controller/bl_caster_r_wheel_joint/p
 * /base_controller/bl_caster_rotation_joint/position_controller/d
 * /base_controller/bl_caster_rotation_joint/position_controller/i
 * /base_controller/bl_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/bl_caster_rotation_joint/position_controller/p
 * /base_controller/bl_caster_rotation_joint/velocity_controller/d
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i
 * /base_controller/bl_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/bl_caster_rotation_joint/velocity_controller/p
 * /base_controller/br_caster_l_wheel_joint/d
 * /base_controller/br_caster_l_wheel_joint/i
 * /base_controller/br_caster_l_wheel_joint/i_clamp
 * /base_controller/br_caster_l_wheel_joint/p
 * /base_controller/br_caster_r_wheel_joint/d
 * /base_controller/br_caster_r_wheel_joint/i
 * /base_controller/br_caster_r_wheel_joint/i_clamp
 * /base_controller/br_caster_r_wheel_joint/p
 * /base_controller/br_caster_rotation_joint/position_controller/d
 * /base_controller/br_caster_rotation_joint/position_controller/i
 * /base_controller/br_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/br_caster_rotation_joint/position_controller/p
 * /base_controller/br_caster_rotation_joint/velocity_controller/d
 * /base_controller/br_caster_rotation_joint/velocity_controller/i
 * /base_controller/br_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/br_caster_rotation_joint/velocity_controller/p
 * /base_controller/caster_names
 * /base_controller/caster_position_pid_gains/d
 * /base_controller/caster_position_pid_gains/i
 * /base_controller/caster_position_pid_gains/i_clamp
 * /base_controller/caster_position_pid_gains/p
 * /base_controller/caster_velocity_filter/name
 * /base_controller/caster_velocity_filter/params/a
 * /base_controller/caster_velocity_filter/params/b
 * /base_controller/caster_velocity_filter/type
 * /base_controller/caster_velocity_pid_gains/d
 * /base_controller/caster_velocity_pid_gains/i
 * /base_controller/caster_velocity_pid_gains/i_clamp
 * /base_controller/caster_velocity_pid_gains/p
 * /base_controller/fl_caster_l_wheel_joint/d
 * /base_controller/fl_caster_l_wheel_joint/i
 * /base_controller/fl_caster_l_wheel_joint/i_clamp
 * /base_controller/fl_caster_l_wheel_joint/p
 * /base_controller/fl_caster_r_wheel_joint/d
 * /base_controller/fl_caster_r_wheel_joint/i
 * /base_controller/fl_caster_r_wheel_joint/i_clamp
 * /base_controller/fl_caster_r_wheel_joint/p
 * /base_controller/fl_caster_rotation_joint/position_controller/d
 * /base_controller/fl_caster_rotation_joint/position_controller/i
 * /base_controller/fl_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/fl_caster_rotation_joint/position_controller/p
 * /base_controller/fl_caster_rotation_joint/velocity_controller/d
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i
 * /base_controller/fl_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/fl_caster_rotation_joint/velocity_controller/p
 * /base_controller/fr_caster_l_wheel_joint/d
 * /base_controller/fr_caster_l_wheel_joint/i
 * /base_controller/fr_caster_l_wheel_joint/i_clamp
 * /base_controller/fr_caster_l_wheel_joint/p
 * /base_controller/fr_caster_r_wheel_joint/d
 * /base_controller/fr_caster_r_wheel_joint/i
 * /base_controller/fr_caster_r_wheel_joint/i_clamp
 * /base_controller/fr_caster_r_wheel_joint/p
 * /base_controller/fr_caster_rotation_joint/position_controller/d
 * /base_controller/fr_caster_rotation_joint/position_controller/i
 * /base_controller/fr_caster_rotation_joint/position_controller/i_clamp
 * /base_controller/fr_caster_rotation_joint/position_controller/p
 * /base_controller/fr_caster_rotation_joint/velocity_controller/d
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i
 * /base_controller/fr_caster_rotation_joint/velocity_controller/i_clamp
 * /base_controller/fr_caster_rotation_joint/velocity_controller/p
 * /base_controller/max_rotational_acceleration
 * /base_controller/max_rotational_velocity
 * /base_controller/max_translational_acceleration/x
 * /base_controller/max_translational_acceleration/y
 * /base_controller/max_translational_velocity
 * /base_controller/publish_tf
 * /base_controller/state_publish_rate
 * /base_controller/timeout
 * /base_controller/type
 * /base_controller/wheel_pid_gains/d
 * /base_controller/wheel_pid_gains/i
 * /base_controller/wheel_pid_gains/i_clamp
 * /base_controller/wheel_pid_gains/p
 * /base_hokuyo_node/frame_id
 * /base_hokuyo_node/intensity
 * /base_hokuyo_node/max_ang
 * /base_hokuyo_node/min_ang
 * /base_hokuyo_node/port
 * /base_hokuyo_node/skip
 * /base_odometry/base_footprint_frame
 * /base_odometry/base_link_frame
 * /base_odometry/caster_calibration_multiplier
 * /base_odometry/caster_names
 * /base_odometry/cov_xrotation
 * /base_odometry/cov_xy
 * /base_odometry/cov_yrotation
 * /base_odometry/ils_max_iterations
 * /base_odometry/odom_frame
 * /base_odometry/odom_publish_rate
 * /base_odometry/odometer_publish_rate
 * /base_odometry/publish_tf
 * /base_odometry/rotation_stddev
 * /base_odometry/state_publish_rate
 * /base_odometry/type
 * /base_odometry/verbose
 * /base_odometry/wheel_radius_multiplier
 * /base_odometry/x_stddev
 * /base_odometry/y_stddev
 * /diag_agg/analyzers/joints/expected
 * /diag_agg/analyzers/joints/path
 * /diag_agg/analyzers/joints/startswith
 * /diag_agg/analyzers/joints/type
 * /head_traj_controller/gains/head_pan_joint/d
 * /head_traj_controller/gains/head_pan_joint/i
 * /head_traj_controller/gains/head_pan_joint/i_clamp
 * /head_traj_controller/gains/head_pan_joint/p
 * /head_traj_controller/gains/head_tilt_joint/d
 * /head_traj_controller/gains/head_tilt_joint/i
 * /head_traj_controller/gains/head_tilt_joint/i_clamp
 * /head_traj_controller/gains/head_tilt_joint/p
 * /head_traj_controller/joints
 * /head_traj_controller/type
 * /l_arm_controller/gains/l_elbow_flex_joint/d
 * /l_arm_controller/gains/l_elbow_flex_joint/i
 * /l_arm_controller/gains/l_elbow_flex_joint/i_clamp
 * /l_arm_controller/gains/l_elbow_flex_joint/p
 * /l_arm_controller/gains/l_forearm_roll_joint/d
 * /l_arm_controller/gains/l_forearm_roll_joint/i
 * /l_arm_controller/gains/l_forearm_roll_joint/i_clamp
 * /l_arm_controller/gains/l_forearm_roll_joint/p
 * /l_arm_controller/gains/l_shoulder_lift_joint/d
 * /l_arm_controller/gains/l_shoulder_lift_joint/i
 * /l_arm_controller/gains/l_shoulder_lift_joint/i_clamp
 * /l_arm_controller/gains ...