On Thu, May 6, 2010 at 3:06 AM, Andreas Vogt <andreas.vogt@dfki.de> wrote:

Hi John,

Thanks your example worked but still I don't know how the information
goes from xml file to the controller.
Still there are some questions. How I can use this:


<controller:gazebo_ros_controller_manager
name="gazebo_ros_controller_manager"
plugin="libgazebo_ros_controller_manager.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
</controller:gazebo_ros_controller_manager>


<controller:gazebo_ros_p3d name="p3d_link1_controller"
plugin="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<bodyName>link1</bodyName>
<topicName>link1_pose</topicName>
<frameName>map</frameName>
<interface:position name="p3d_link1_position"/>
</controller:gazebo_ros_p3d>
</gazebo>

<include filename="./single_link.transmission.xacro" />

for my model (see attached file rover.xml)?

And the problem with rviz still exist. All components are merged together at one point and the model is white.

Thanks

Andreas

John Hsu schrieb:

Hi Andreas,
A simple example can be found here:

roslaunch pr2_examples_gazebo single_link.launch
roslaunch pr2_controller_manager controller_manager.launch

then you can see your link in rviz

rosrun rviz rviz

Set fixed and target frames to /world and try sending a command to the controller by

rostopic pub /test_controller/command std_msgs/Float64 0.1

you should see the link approach target joint position in gazebo and in rviz.
John

On Thu, May 6, 2010 at 12:29 AM, Andreas Vogt <andreas.vogt@dfki.de <mailto:andreas.vogt@dfki.de>> wrote:

Hi,
Can anyone give me a short example (with one or two joints) how to
use URDF together with gazebo?
There are a lot of examples for the pr2 robot but no example how
to start with a simple and small system from the scratch.
I have a robot description in xml. I did all the parse and
checking stuff described in the tutorials. But now I want to read
and write angles to these joints which are described in the XML
file and want to see the movements in the simulation. How can I do
that?

Thanxs for any help
Andreas

I spawn the XML model of the robot sucessfully into gazebo but
when I start rviz all the tf's are missing.

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Andreas Vogt
Logistics and Production Robotics

DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 218-64140
Fax: +49 (0)421 218-64150
E-Mail: andreas.vogt@dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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