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Is there a book on gazebo?

Hi all, I am working on a turtlebot with gazebo. However, I am looking for more documentation on gazebo with ros using turtlebots as the ground robots. So far, I have not gotten far to find good book...

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ros plugin error with gazebo 7

I was trying to run this [tutorial](http://gazebosim.org/tutorials?tut=ros_plugins&cat=connect_ros), with gazebo 7 and ros indigo, but this time after i upgraded the gazebo version it shows lot of...

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Oscillations in simulated acceleration

Hello everyone, I am writing some custom aerodynamics plugins and I want to query Gazebo for the linear acceleration (among others). I have placed this code inside one of my plugins, similar to...

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member of one class pointing to member of another class

I was trying to understand the lines in the velodyne_plugin.cc file from this [tutorial](http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i5), Here i saw this line which confuse me:...

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How does this plugin gazebo_ros_vacuum_gripper triggers the gripping process?

If you have good understanding of the code, please take a look at the following code, and let me know, how does the gripping is triggered in this code?...

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trouble launching gazebo

When I try to launch gazebo I have been getting this error. Can anybody shed some light on what this means and how to fix it? *** Error in `gzserver': malloc(): memory corruption (fast):...

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Creating a mal-functioning robot manipulator in Gazebo

I am new in Gazebo... I would like to create a mal-functioning manipulator in Gazebo, such as where the torque of joints are reduced in half. Something like that. Shall I add SetForceImpl() in...

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joint don't moves as expected

I was trying to move a joint with below code: public: void Load(physics::ModelPtr _parent, sdf::ElementPtr) { if (_parent->GetJointCount() == 0) { std::cerr << "Invalid joint count,plugin not...

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Modify model names during simulation

When I 'insert' a model from the Gazebo GUI, it seems I could not change its model name anymore. Is there any way to change its name after drag it into the simulation world?

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AddRelativeForce doesn't work with Bullet engine

I have written a plugin communicating with ROS, which subscribes to a "wrench" topic and uses link->AddRelativeForce() to apply the force to the link. While it works ok with the ODE engine, it...

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Uncontrollable robot with bullet physics (works ok with ode)

I got `hector_quadrotor` working with gazebo5 (instead of gazebo2) to be able to experiment with different physics engines. While the quadrotor is controllable with ode (subscribing to `cmd_vel`) it...

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Intermittent Assert: "Took over 1.0 seconds to update a sensor"

Using Indigo, Gazebo is asserting in gazebo/sensors/SensorManager.cc, "Took over 1.0 seconds to update a sensor" in SensorManager::SensorContainer::RunLoop(). 1) Why am I hitting assert in release...

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Physics integration from acceleration to velocity doesn't match

Hi, I have a SDF defining a AUV. It has several links, with joints of revolute and with 0 limits connecting them. So I can consider my robot one of rigid body. I also set the inertia of the main link...

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pointer to joint_state doest works

I was trying to use the joint_state class of gazebo API, but when i try to declare it as physics::JointStatePtr jointstatep; It shows: error: ‘JointStatePtr’ in namespace ‘gazebo::physics’ does not...

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GetWorldLinearVel animation problem

Hello everybody, I am moving a box using the animation system (KeyFrame,...). I would like to output some datas like the model's position and speed. I have created a model plugin. No problem for the...

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Spawn a box in another frame than world

Is it possible to spawn a box in a different frame than world? having already a robot spawned, I want to spawn something relative to base_link of that robot. How to do that? After digging in the source...

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Restitution coefficient does not change

Hi all, I'm creating a contact simulation of two objects with Gazebo7. I tried to change the restitution coefficient, but still I can't make it. My URDF code is here: Ball: 0.1 0.1 0.10.1 0.1...

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Help understanding what's going on with the forces on Atlas' foot.

I'm recording the forces on Atlas' foot while walking normally. The forces in the beginning behave as expected![image description](/upfiles/1473354170359890.png). However there's some crazy oscillation...

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Measure distance between 2 points in GUI?

I used the building editor to model my building / office. Now I want to put sensors and beacons in there, but it is difficult to know where exactly to put them. I know, for example, that there is a...

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Gzweb not load well my world

I have create the following world [C:\fakepath\road_drone_textures.world](/upfiles/1473418331636978.world). with gzclient Works perfectly but in Gzweb, when load the second lamp shows the following...

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