[ros-users] URDF Gazebo problem

[John Hsu]

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 at 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 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
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>
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>  E-Mail: andreas.vogt at dfki.de
>
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