[ros-users] URDF Gazebo problem
Andreas Vogt
andreas.vogt at dfki.de
Thu May 6 10:51:20 UTC 2010
Hi John,
thanks a lot, it works! I'll promise to write a tutorial about this topic.
Andreas
John Hsu schrieb:
> 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
> <mailto: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>
> <mailto: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 <mailto:andreas.vogt at dfki.de>
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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
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
(Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
USt-Id.Nr.: DE 148646973
Steuernummer: 19/673/0060/3
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