Re: [ros-users] URDF Gazebo problem

>     * 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.

>     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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