Hi Andreas,<br><ul><li>what you're missing in rover.xml are transmissions.</li><li>gazebo_ros_controller_manager is the hw equivalent of pr2_etherCAT node for simulation</li><li>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.</li>
</ul>otherwise, things should work (see attached tar ball).<br>John<br><br><div class="gmail_quote">On Thu, May 6, 2010 at 3:06 AM, Andreas Vogt <span dir="ltr"><<a href="mailto:andreas.vogt@dfki.de">andreas.vogt@dfki.de</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi John,<br>
<br>
Thanks your example worked but still I don't know how the information<br>
goes from xml file to the controller.<br>
Still there are some questions. How I can use this:<br>
<br>
<br>
<!-- PR2_ACTARRAY --><br>
<controller:gazebo_ros_controller_manager<br>
name="gazebo_ros_controller_manager"<br>
plugin="libgazebo_ros_controller_manager.so"><br>
<alwaysOn>true</alwaysOn><br>
<updateRate>100.0</updateRate><br>
<interface:audio name="gazebo_ros_controller_manager_dummy_iface" /><br>
</controller:gazebo_ros_controller_manager><br>
<br>
<!-- gazebo_ros_p3d for position groundtruth --><br>
<controller:gazebo_ros_p3d name="p3d_link1_controller"<br>
plugin="libgazebo_ros_p3d.so"><br>
<alwaysOn>true</alwaysOn><br>
<updateRate>100.0</updateRate><br>
<bodyName>link1</bodyName><br>
<topicName>link1_pose</topicName><br>
<frameName>map</frameName><br>
<interface:position name="p3d_link1_position"/><br>
</controller:gazebo_ros_p3d><br>
</gazebo><br>
<!-- mechanism controls --><br>
<include filename="./single_link.transmission.xacro" /><br>
<br>
for my model (see attached file rover.xml)?<br>
<br>
And the problem with rviz still exist. All components are merged together at one point and the model is white.<br>
<br>
Thanks<br>
<br>
Andreas<br>
<br>
<br>
John Hsu schrieb:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div class="im">
Hi Andreas,<br>
A simple example can be found here:<br>
<br>
roslaunch pr2_examples_gazebo single_link.launch<br>
roslaunch pr2_controller_manager controller_manager.launch<br>
<br>
then you can see your link in rviz<br>
<br>
rosrun rviz rviz<br>
<br>
Set fixed and target frames to /world and try sending a command to the controller by<br>
<br>
rostopic pub /test_controller/command std_msgs/Float64 0.1<br>
<br>
you should see the link approach target joint position in gazebo and in rviz.<br>
John<br>
<br></div><div class="im">
On Thu, May 6, 2010 at 12:29 AM, Andreas Vogt <<a href="mailto:andreas.vogt@dfki.de" target="_blank">andreas.vogt@dfki.de</a> <mailto:<a href="mailto:andreas.vogt@dfki.de" target="_blank">andreas.vogt@dfki.de</a>>> wrote:<br>
<br>
<br>
Hi,<br>
Can anyone give me a short example (with one or two joints) how to<br>
use URDF together with gazebo?<br>
There are a lot of examples for the pr2 robot but no example how<br>
to start with a simple and small system from the scratch.<br>
I have a robot description in xml. I did all the parse and<br>
checking stuff described in the tutorials. But now I want to read<br>
and write angles to these joints which are described in the XML<br>
file and want to see the movements in the simulation. How can I do<br>
that?<br>
<br>
Thanxs for any help<br>
Andreas<br>
<br>
I spawn the XML model of the robot sucessfully into gazebo but<br>
when I start rviz all the tf's are missing.<br>
<br>
<br>
<br>
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Andreas Vogt<br>
Logistics and Production Robotics<br>
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DFKI Bremen<br>
Robotics Innovation Center<br>
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