Hi John,

thanks a lot, it works! I'll promise to write a tutorial about this topic.

Andreas

John Hsu schrieb:
> Hi Andreas,
>
>     * what you're missing in rover.xml are transmissions.
>     * gazebo_ros_controller_manager is the hw equivalent of
>       pr2_etherCAT node for simulation
>     * gazebo_ros_time, gazebo_ros_controller update rate should match
>       your world file time step size.  i.e. if step size for the
>       physics is .001 sec, updateRate's should be 1000.0.
>
> otherwise, things should work (see attached tar ball).
> John
>
> On Thu, May 6, 2010 at 3:06 AM, Andreas Vogt <andreas.vogt@dfki.de 
> <mailto: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:
>
>
>        <!-- PR2_ACTARRAY -->
>          <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>
>
>          <!-- gazebo_ros_p3d for position groundtruth -->
>          <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>
>      <!-- mechanism controls -->
>      <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>
>         <mailto: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 <mailto:andreas.vogt@dfki.de>
>
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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
 -----------------------------------------------------------------------
 Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster 
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3