I'm trying to create plugin which will use real Attitude, received from UAV using MAVLink interface.
So Gazebo core should use in simulation all "virtual" (calculated in simulation) variables (speed, wind, GPS etc) except attitude.
Can I create plugin with that functionality and how I can implement it?
I will be grateful for any help.
Thank you!
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UAV Attitude from real IMU
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Unable to install gzweb on ubuntu 18.04
I first installed gazebo9 and verified it runs after entering 'gazebo'
Then I followed the setup procedure for installing gzweb from here: http://gazebosim.org/tutorials?cat=gzweb&tut=gzweb_install&ver=1.9%2B
The versions of the dependencies are:
- libjansson-dev is already the newest version (2.11-1).
- libboost-dev is already the newest version (1.65.1.0ubuntu1).
- imagemagick is already the newest version (8:6.9.7.4+dfsg-16ubuntu6.7).
- libtinyxml-dev is already the newest version (2.6.2-4).
- mercurial is already the newest version (4.5.3-1ubuntu2.1).
- cmake is already the newest version (3.10.2-1ubuntu2.18.04.1).
- build-essential is already the newest version (12.4ubuntu1).
- nodejs is already the newest version (8.10.0~dfsg-2ubuntu0.4).
- npm is already the newest version (3.5.2-0ubuntu4)
running './deploy.sh -m' yielded the error:
CMake Error at CMakeLists.txt:38 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.
One post indicated the way to fix this error is to install 'libgazebo9-dev'. Unfortunately, installing this will remove the following packages:
libcurl4-gnutls-dev libssl1.0-dev node-gyp nodejs-dev npm
Another post indicated the following commands were able to fix his similar error:
curl -sL https://deb.nodesource.com/setup_8.x | sudo bash -
sudo apt-get install -y nodejs
This caused version 8.16.1 of nodejs to be loaded instead of 8.10.0. Now, however, when I try to install npm, it indicates it can't install because there are unmet dependancies:
npm : Depends: nodejs but it is not going to be installed
Depends: node-abbrev (>= 1.0.4) but it is not going to be installed
...
Depends: node-which but it is not going to be installed
And nodejs won't install without nodejs-dev, which won't install without libssl1.0-dev. If I then install libssl1.0-dev, I see that it will uninstall 'libgazebo9-dev'. So if I proceed with this, nodejs, nodejs-dev and libssl1.0-dev are all installed, but libgazebo9-dev is uninstalled and I again get the same error I originally got when I try to run ./deploy.sh -m
CMake Error at CMakeLists.txt:38 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.
Does gzweb not work with gazebo9 on ubuntu 18.04, or is this some setup issue I have?
Thanks
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Texture does not work properly
I am trying to put a texture defined in PNG file to a custom made model in defined by OBJ file.
I have this folder structure with the model
model_name
├── materials
│ ├── scripts
│ │ └── model_name.material
│ └── textures
│ └── floor0.png
├── meshes
│ └── model_name.obj
├── model.config
└── model.sdf
this is the image floor0.png
This is the model.sdf file content
true 0 0 0 0 0 0 model://model_name/meshes/model_name.obj 1 1 0 0 0 0 0 model:/model_name/meshes/model_name.obj
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Add wind speed by typing "world" in gazebo
I am using gazebo to simulate a real environment. What should I do if I want to add an index of wind speed.
Can i help me?
Thanks!
↧
class gazebo::physics::World’ has no member named ‘GetModel’; did you mean ‘Models’?
Hi All,
I am very new to Gazebo and ROS.
I have the following code snippet in my Ros World Plugin:
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
{
physics::ModelPtr ballmodel;
ballmodel = _world->GetModel("ball");
Any idea why I always get a error like
class gazebo::physics::World’ has no member named ‘GetModel’; did you mean ‘Models’?
I am using Ubuntu 18, Melodic and Gazebo 9.
Any idea?
Thanks in advance, Peter
----------
EDIT
No idea what's going on, but the ball is not found :-(
class SimulatorPlugin : public WorldPlugin
{
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
{
sdf::SDF ballSDF;
ballSDF.SetFromString(
"\
\
0 0 0 0 0 0 \
\
/home/peter/gazebo_plugin/models/my_robocup_spl_ball \
\
\
");
sdf::ElementPtr ballmodel = ballSDF.Root()->GetElement("model");
ballmodel->GetAttribute("name")->SetFromString("ball");
_world->InsertModelSDF(ballSDF);
physics::ModelPtr ballmodelPtr = _world->ModelByName("ball");
if (ballmodelPtr != NULL)
{
printf("ball found \n");
}
_world->LoadPlugin("librifball.so", "rifball", ballmodel);
}
}
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My robot blows up when I launch the controllers [update 2]
EDIT2: I have forked the gazebo\_ros_demos package to try a velocity control on the rrbot simple robot.
Here is the link to my repo:
[https://github.com/Arn-O/gazebo_ros_demos.git](https://github.com/Arn-O/gazebo\_ros\_demos.git)
I have changed something in the configuration files.
VelocityJointInterface and no longer EffortJointInterface:
transmission_interface/SimpleTransmission VelocityJointInterface 1 transmission_interface/SimpleTransmission EffortJointInterface ${wheel_mechanical_reduction}
↧
How to set a right revolute joint coordinate?
Okay guys, im trying to use gazebo to simulate my simple arm but i'm stuck at second joint.
Idk why, but it rotates based on some other axis(or some other coordination).
the arm is at the right place when i don't move them, so changing coordinate would changes arm's position.
i want to keep my arm that position and want to rotate based on the shaft( black horn with green part).
anyone had a same problem and solved it?
what i am thinking about is that i change joint coordinate and changes link's visual coordinate.
but i am not sure this is the right way to solve this problem.
Help me guy **thx!**
https://github.com/benthebear93/clime_robot/blob/master/v4_robot/urdf/v4_robot.urdf
Here is my robot's urdf, and u could see the package
↧
question about tutorial "Setting Velocity on Joints and Links"
hi friends. ubuntu 16 + gazebo 7，
I am folowing the tutorial "[Setting Velocity on Joints and Links](http://gazebosim.org/tutorials?tut=set_velocity&cat=)"
I download the source files in [here](https://bitbucket.org/osrf/gazebo_tutorials/downloads/), the cmake is ok, but make is wrong, it said:
"class gazebo::physics::Model’ has no member named ‘CreateLink’",
full:
> In file included from /home/mw/Downloads/set_vel_plugin/src/SetLinkVelocityPlugin.cpp:21:0:
/home/mw/Downloads/set_vel_plugin/include/ode_perfect_velocity.hh: In member function ‘void gazebo::OdePerfectVelocityController::Start(gazebo::physics::LinkPtr, gazebo::math::Vector3, gazebo::math::Vector3, double, double)’:
/home/mw/Downloads/set_vel_plugin/include/ode_perfect_velocity.hh:36:36: error: ‘class gazebo::physics::Model’ has no member named ‘CreateLink’
this->phantomLink = model->CreateLink("__perfect_phantom_link__");
^
CMakeFiles/SetLinkVelocityPlugin.dir/build.make:62: recipe for target 'CMakeFiles/SetLinkVelocityPlugin.dir/src/SetLinkVelocityPlugin.cpp.o' failed
make[2]: *** [CMakeFiles/SetLinkVelocityPlugin.dir/src/SetLinkVelocityPlugin.cpp.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/SetLinkVelocityPlugin.dir/all' failed
make[1]: *** [CMakeFiles/SetLinkVelocityPlugin.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
so what is the problem? thanks
↧
Does Gazebo simulate air resistance?
Does gazebo realistically simulate the air resistance? I see you can set an atmospheric pressure in the simulation but I don't know how to validate the correctness of the aerodynamics. I need the simulation to generate a realistic forces acting on the link given the geometry and velocity of the link. Does gazebo do that or do I need to make a plugin for this?
↧
↧
Gazebo model editor crashing: newtrap: Trapezoid-table overflow 301
I'm building up an sdf model and am continually running into Gazebo model editor crashes as I incrementally add or change a working model ( either on right clicking to edit a model that has been spawned into Gazebo, or on exiting model editor after saving a model ).
The message in the terminal I'm getting is:
newtrap: Trapezoid-table overflow 301
gzclient: trapezoid.c:88: newtrap: Assertion `0' failed.
Aborted (core dumped)
I'm attaching the sdf that I'm working with that crashes Gazebo every time I try to edit the model in Gazebo.
[C:\fakepath\model.sdf](/upfiles/15667386405365863.sdf)
I'm running Gazebo 9 on Ubuntu 18.04.2 LTS
↧
Getting different values of acceleration when computed using equation of dynamics and when using kinematic equation.
I am new to Gazebo and Ros environment.I am trying to simulate application of force on a body on a friction-less surface with value of slip as 1.0.I am giving force of 1 N on the body's center of mass, according to the equation F=m*a the acceleration should be 1 m/s^2 . But on observing the displacement of body in x-direction, the value of acceleration obtained using the formulae S=ut+1/2at^2 is far less then it should be.Is there any parameter i have to set to get the correct value of acceleration.
↧
List of replacing methods between gazebo versions
There are a lot over different versions of Gazebo and example code. Unfortunately they cannot easily be used together. Any idea where I can find a list of methods that explains which 'old' methods are replaced by the new ones?
↧
what is the kinematic parameter under physics tag in gazebo used for?
when i turn the kinematics tag to true the model becomes unstable and i am not able to move the model by giving it velocity command. How does the tag work and when should i use it?
I tried looking into gazebo tutorial but it was not explained properly over there.
↧
↧
Simple model always becomes unstable
Hi list,
I have a model with 5 revolute joints, nothing special. It is a kind of shoulder and elbow construct.
When started it seems stable, but after a few seconds it becomes violantly unstable.
This all with default settings. How can it be that this does not work with gazebo, what am I doing wrong?
Tried several versions of gazebo, 9 and 10, on Ubuntu and Debian (from source), but the behavior always is the same.
The model can be found on my github page. There is the [boot.urdf](https://github.com/SietseAchterop/Rowing/blob/master/test2/boot.urdf) that I created and the [boot.sdf](https://github.com/SietseAchterop/Rowing/blob/master/test2/boot.sdf) generated from it.
Please see [instable.mp4](https://github.com/SietseAchterop/Rowing/blob/master/test2/instable.mp4) for the instabilities.
**Update:** This model is just a simplified version of my intended model, which can be found [here](https://github.com/SietseAchterop/Rowing/tree/master/boot4_description/urdf).
I created the simplified model to solve the instabilities and crashes of gazebo first.
The inertia values of all 1 kg links a calculated using the values in `` using the standard formulas.
The values are all realistic physical values, so I assume they should work with gazebo.
If I however change the **first** link from 1 to 3 kg, with correct inertia values, it becomes stable.
But that is no solution for my much more complex model. So my strategy is to first get the simplified model to work.
Thanks in advance, Sietse
PS. This is actually a question I [asked](http://answers.gazebosim.org/question/22523/instabilities-with-ode-engine/) before, but is still unresolved. I hope that now maybe someone else can help me in some way!
↧
why the box turn over when set velocity?
Hi friends, I am following this tutorial [Model plugins](http://gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin).
In this tutorial, set a volocity to the box:
this->model->SetLinearVel(ignition::math::Vector3d(.3, 0, 0));
but when simulate, the box turn over, like this:
so why? is it a bug? thanks!
↧
Gazebo does not launch when entering the launch command
**I tried to launch a parrot ar drone locally from ROS development studio. But when I enter the command line in the following, Gazebo does not launch.**
$roslaunch drone_construct main.launch
**Instead, following message shows up:**
... logging to /home/chirantou/.ros/log/ec39ce5c-c963-11e9-9409-84a6c8434f72/roslaunch-chirantou-4610.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://chirantou:43771/
Summary
=======
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
/
gazebo (sjtu_drone/start_gzserver)
spawn_model (sjtu_drone/spawn_model)
auto-starting new master
process[master]: started with pid [4621]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to ec39ce5c-c963-11e9-9409-84a6c8434f72
process[rosout-1]: started with pid [4634]
started core service [/rosout]
process[gazebo-2]: started with pid [4637]
process[spawn_model-3]: started with pid [4639]
Error opening log file: "/home/chirantou/.gazebo/client-11345/default.log"
Error opening log file: "/home/chirantou/.gazebo/server-11345/gzserver.log"
Error opening log file: "/home/chirantou/.gazebo/server-11345/default.log"
[spawn_model-3] process has finished cleanly
log file: /home/chirantou/.ros/log/ec39ce5c-c963-11e9-9409-84a6c8434f72/spawn_model-3*.log
**This is the launch file "main.launch"**
↧
libgazebo_ros_control joints behaviour
Hello,
I am simulation an arm and i am using the libgazebo_ros_cobntrol plugin for gazebo.
For the tranmssion acturators I use a tag like this
transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1
↧
↧
libgazebo_ros_control joints behaviour
Hello,
I am simulation an arm and i am using the libgazebo_ros_cobntrol plugin for gazebo.
For the tranmssion acturators I use a tag like this
transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 1
↧
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