[ros-users] Is there any sample code for ROS robots control?

Sat Sep 11 05:38:22 UTC 2010

Hi Jia,

I disabled shadows by default as it's causing some problems for larger
scenes.  A fix is in the works, I'll re-enable shadows once that's working
again.  For now, you can goto the file:
gazebo_worlds/worlds/empty.world

and change

<shadows>false</shadows>

to

<shadows>true</shadows>

to enable shadows again.
John

On Fri, Sep 10, 2010 at 10:32 PM, JIA Pei <jp4work at gmail.com> wrote:

> Hi,
>
> Thank you very much John !!! Thanks for your clear explanation.
> I guess it's better for me to start from scratch. ^_^
>
> I started to test gazebo demos from here
>
> http://www.ros.org/wiki/simulator_gazebo/Tutorials/SpawningObjectInSimulation
> Yes, it works.
>
> However, unfortunately, as the picture attached at
> http://www.visionopen.com/Screenshot.png,
> shadows failed to be shown compared to the demos shown here
>
> http://www.ros.org/wiki/simulator_gazebo/Tutorials/SpawningObjectInSimulation
>  .
>
> How to enable gazebo shadows?
>
> Cheers
> JIA
>
>
> On Sat, Sep 11, 2010 at 1:26 PM, JIA Pei <jp4work at gmail.com> wrote:
>
>>
>> Hi,
>>
>> Thank you very much John !!! Thanks for your clear explanation.
>> I guess it's better for me to start from scratch. ^_^
>>
>> I started to test gazebo demos from here
>>
>> http://www.ros.org/wiki/simulator_gazebo/Tutorials/SpawningObjectInSimulation
>> Yes, it works.
>>
>> However, unfortunately, as the picture attached,
>> shadows failed to be shown compared to the demos shown on the above
>> linkage,
>>
>> How to enable gazebo shadows?
>>
>> Cheers
>> JIA
>>
>>
>>
>> On Sat, Sep 11, 2010 at 12:17 PM, Peter Brook <pbrook at cs.washington.edu>wrote:
>>
>>> Hey,
>>>
>>> I don't know much about those questions, but if you try setting ROBOT=pr2
>>> rather than PR2 it might work.
>>>
>>> Peter
>>>
>>> On Sep 10, 2010 6:34 PM, "JIA Pei" <jp4work at gmail.com> wrote:
>>> > Hi, John:
>>> >
>>> > Sorry to bother you again.
>>> >
>>> > 1)
>>> > I checked out pr2_2dnav_gazebo and put it under the corresponding
>>> folder of
>>> > my installed ROS.
>>> > say: /opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo
>>> >
>>> > When I do roslaunch
>>> > "roslaunch pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch"
>>> > I got 'ROBOT' is not set
>>> >
>>> > jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$
>>> roslaunch
>>> >> pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
>>> >> ... logging to
>>> >>
>>> /home/jiapei/.ros/log/73e7b77a-bd42-11df-8314-0040d0a919ff/roslaunch-jiapei-laptop-4044.log
>>> >> Checking log directory for disk usage. This may take awhile.
>>> >> Press Ctrl-C to interrupt
>>> >> Done checking log file disk usage. Usage is <1GB.
>>> >>
>>> >> environment variable 'ROBOT' is not set
>>> >>
>>> >
>>> >
>>> > Then, I set 'ROBOT' as "PR2" (I just guessed this, how to set
>>> > this environment variable? )
>>> > This time, I obtained "Invalid roslaunch XML syntax: [Errno 2] No such
>>> file
>>> > or directory" .
>>> >
>>> > jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$ export
>>> >>> ROBOT=PR2
>>> >>
>>> >> jiapei at jiapei-laptop:/opt/ros/cturtle/stacks/wg_robots_gezebo$
>>> roslaunch
>>> >>> pr2_2dnav_gazebo pr2-armless-wg-fake_localization.launch
>>> >>
>>> >> ... logging to
>>> >>>
>>> /home/jiapei/.ros/log/db1290a0-bd42-11df-b443-0040d0a919ff/roslaunch-jiapei-laptop-4091.log
>>> >>
>>> >> Checking log directory for disk usage. This may take awhile.
>>> >>
>>> >> Press Ctrl-C to interrupt
>>> >>
>>> >> Done checking log file disk usage. Usage is <1GB.
>>> >>
>>> >>
>>> >>> while processing
>>> >>>
>>> /opt/ros/cturtle/stacks/wg_robots_gezebo/pr2_2dnav_gazebo/2dnav-stack-fake_localization.launch:
>>> >>
>>> >> while processing
>>> >>>
>>> /opt/ros/cturtle/stacks/pr2_navigation/pr2_navigation_global/move_base.xml:
>>> >>>
>>> >>
>>> >> while processing
>>> >>> /opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine:
>>> >>>
>>> >>
>>> >> Invalid roslaunch XML syntax: [Errno 2] No such file or directory:
>>> >>> u'/opt/ros/cturtle/stacks/pr2_common/pr2_machine/PR2.machine'
>>> >>
>>> >>
>>> >
>>> > So, my first question is: How to set 'ROBOT' for this pr2 2D navigation
>>> > simulation?
>>> >
>>> >
>>> > 2) My 2nd question is I found I've installed
>>> > "ros-cturtle-simulator-gazebo",
>>> > I'm wondering what are the connections between "pr2_2dnav_gazebo"
>>> > and "ros-cturtle-simulator-gazebo" ?
>>> > And, why "pr2_2dnav_gazebo" is not packaged into Ubuntu repository for
>>> > automatic installation?
>>> >
>>> > By the way, from the name of "ros-cturtle-simulator-gazebo",
>>> > I'm guessing, by using "ros-cturtle-simulator-gazebo" only,
>>> > am I able to simulate the robots navigation already, without checking
>>> > out "pr2_2dnav_gazebo" ?
>>> > Or, "ros" refers to the system without specifying a particular robot,
>>> > while "pr2" is a specific robot.
>>> > We have to specify a type of robot before its navigation?
>>> >
>>> > Sorry for my entry-level questions, but I really need your help.
>>> >
>>> >
>>> > Best Regards
>>> > JIA
>>> >
>>> >
>>> >
>>> > On Sat, Sep 11, 2010 at 1:32 AM, John Hsu <johnhsu at willowgarage.com>
>>> wrote:
>>> >
>>> >> Hi JIA,
>>> >> Sorry, my mistake, wg-ros-pkg trunk has been moved to
>>> >> branches/trunk_cturtle. I've updated the svn command accordingly:
>>> >>
>>> >> svn co
>>> https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
>>> >>
>>> >>
>>> >> John
>>> >>
>>> >>
>>> >>
>>> >> On Fri, Sep 10, 2010 at 5:05 AM, JIA Pei <jp4work at gmail.com> wrote:
>>> >>
>>> >>>
>>> >>> Hi, John:
>>> >>>
>>> >>> Sorry that I couldn't make it work yet.
>>> >>> It seems I'm not able to check out "pr2_2dnav_gazebo".
>>> >>>
>>> >>> jiapei at jiapei-laptop:~$ svn co
>>> >>>
>>> https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
>>> >>> svn: URL '
>>> >>>
>>> https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/wg_robots_gazebo/pr2_2dnav_gazebo
>>> '
>>> >>> doesn't exist
>>> >>> jiapei at jiapei-laptop:~$
>>> >>>
>>> >>>
>>> >>> Any further suggestions?
>>> >>>
>>> >>>
>>> >>> Best Regards
>>> >>> JIA
>>> >>>
>>> >>>
>>> >>> On Fri, Sep 10, 2010 at 5:31 AM, John Hsu <johnhsu at willowgarage.com
>>> >wrote:
>>> >>>
>>> >>>> Hi JIA,
>>> >>>> I've fixed the tutorial<
>>> http://www.ros.org/wiki/pr2_2dnav_gazebo/Tutorials/Simulating%20the%202dnav%20Stack>page
>>> to include where to get pr2_2dnav_gazebo.
>>>
>>> >>>> Please let me know if you can test the nav stack successfully in
>>> sim.
>>> >>>> thanks,
>>> >>>> John
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>> On Thu, Sep 9, 2010 at 6:46 AM, JIA Pei <jp4work at gmail.com> wrote:
>>> >>>>
>>> >>>>>
>>> >>>>> Hi, all:
>>> >>>>>
>>> >>>>> Sorry for my amateur question.
>>> >>>>>
>>> >>>>> I'd love to try out some simple robot control demos of ROS.
>>> >>>>> So, I went to http://www.ros.org/wiki/AllTutorials and
>>> >>>>> tried pr2_simulator,
>>> >>>>> but it seems the tutorials here are too old and
>>> >>>>> I failed to find pr2_2dnav_gazebo (but pr2_2dnav found),
>>> >>>>> and pr2-simple-fake_localization.launch doesn't existing at all.
>>> >>>>>
>>> >>>>> So, can anybody please show me
>>> >>>>> where to find a runnable robot navigation or robot control demo of
>>> ROS,
>>> >>>>> including the source code,
>>> >>>>> so that I may be able to revise the source according to my own
>>> control
>>> >>>>> requirement?
>>> >>>>>
>>> >>>>> Thanks in advance.
>>> >>>>>
>>> >>>>> Best Regards
>>> >>>>> JIA
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>> --
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