Roslaunch utilising Gazebo 1.0 not Gazebo 1.3

Question

Hi All

I've installed Gazebo 1.3 to replace the Gazebo 1.0 as suggested here.

However when I go to run previous roslaunch files (for a gazebo 1.0 model) instead of launching Gazebo 1.3 and parsing the model to 1.3, it instead launches Gazebo 1.0 with no changes to what I had before installing Gazebo 1.3. I've followed the directions given, and my launch file is based on the old rosplugin.launch. However it doesn't seem to specify a version:

<launch>
  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="true" />
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find HMMv2)/worlds/HMMv2withGripper.world" respawn="false" output="screen"/>
  <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
  <node name="imageviewhead" pkg="image_view" type="image_view" args="image:=/gazebo/cam_sensor1" />
  <node name="imageviewRH" pkg="image_view" type="image_view" args="image:=/gazebo/cam_sensor2" />
</launch>

now I take from the above launch file that it is using the simulator from the gazebo package in /opt/ros/fuerte/stacks/simulator-gazebo/gazebo.

How do i change it to direct to where the gazebo 1.3 files are stored, the binaries are located in usr/bin, with the rest of the parts spread across the /usr/ folders

Cheers

Peter

I can run Gazebo 1.3 from the commandline no problem.

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Originally posted by PMilani on Gazebo Answers with karma: 203 on 2013-01-21

Post score: 3

Answer 1

I believe the problem is that roslaunch uses rospack to find the location of Gazebo. If the path to Gazebo 1.0 is first in the ROS_PACKAGE_PATH environment variable, then roslaunch will use the 1.0 version.

Right now, the easiest way is to sudo apt-get install drcsim, and source the /usr/share/drcsim/setup.sh file.

Update

I think roslaunch can't launch programs that live outside of ROS. Someone should correct me if I'm wrong. One work around is to create a bash script that lives inside a ROS package. The bash script can then run gazebo. For example:

#!/bin/sh
gazebo $1

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Originally posted by nkoenig with karma: 7676 on 2013-01-24

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Davide Zanin on 2013-01-28:
Don't working for me

Comment by PMilani on 2013-02-06:
yeah sorry nate, but installing drcsim, copying across all the paths from the setup file to ROS_PACKAGE_PATH, doesn't work either. is the drcsim formatted as a ros stack? or would removing the gazebo 1.0 stack be suitable (by moving the directory and replacing the executables in the fuerte bin folder with the 1.3 executables? )

Comment by Ben B on 2013-02-19:
What is DRC anyways? I tried to google it, found the user guide, but the explanation of what it is is not implemented yet: http://gazebosim.org/wiki/DRC/UserGuide .

Comment by PMilani on 2013-02-20:
I believe its the simulator for the Darpa Robotics Challenge. Theres a simulation track in the competition and the DRC is the simulator to use. Its based on Gazebo with the latest refinements

Comment by nkoenig on 2013-02-26:
PMilani is correct. The simulation component is called the Virtual Robotics Challenge, which is taking place this June.

Comment by Ben B on 2013-02-26:
Thanks.