[ros-users] URDF Gazebo problem

Andreas Vogt andreas.vogt at dfki.de
Thu May 6 10:06:23 UTC 2010

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 -->
name="gazebo_ros_controller_manager_dummy_iface" />

       <!-- gazebo_ros_p3d for position groundtruth -->
       <controller:gazebo_ros_p3d name="p3d_link1_controller"
           <interface:position name="p3d_link1_position"/>
   <!-- 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.



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 at dfki.de 
> <mailto:andreas.vogt at 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 at dfki.de

  Weitere Informationen: http://www.dfki.de/robotik
  Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
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