Questions tagged [gazebo]
gazebo is a simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios.
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What is the equivalent to "Rolling" for gazebo sim?
For ROS 2, access to the most recent functionality and bug fixes is easy: just compile ROS 2 Rolling according to these instructions and your're set with the "latest and greatest".
What is ...
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Gazebo joint velocities do not agree with joint displacement
In a simulation that I am running, which is described below, the angular velocities that I get from the joint_states topic, do not give me the angular displacement I calculate from the joints angular ...
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How to launch any launch.py file in n ros2 humble? [closed]
My question is a little bit different. I am following this video and this GitHub repository.
Problem:
How can I launch turltebot3_dqn_stage4.launch.py file instead ...
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Seeking resources for building a plugin in ROS 2 and availability of Gazebo battery plugin
I'm currently working on a project that requires building a plugin in ROS 2, specifically for integration with Gazebo. I've checked the Gazebo website for tutorials, but I couldn't find any specific ...
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Problem in opening the model in gazebo
I started working on Ros. I am using noetic and Ubuntu 20.04. I created a model in gazebo, a simple 4 wheel cart, in gazebo model editor. I added keyboard controls to control the motion of the bot. I ...
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Missing Fixed Frame in My Model
Why isn't Gazebo 9 displaying the tip's frame? Using RViz, you can view the frame as shown in the below image. In addition, I can't see the link listed under the model in Gazebo. There seems to be no ...
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Odom only works with fixed joints
I'm simulating a robot with 4 omnidirectional wheels and I'm using the planar move plugin in the gazebo to simulate the behavior of the omnidirectional wheels.
To simulate the wheels I was using ...
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Why does the laser cut through walls? ray_plugin
I have build a robot with a urdf to visualize in gazebo. After some struggle being new to gazebo I got it working. I then decided to make a video series for myself and others on how I did it.
Sadly ...
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Why does joint links pile up to origin after running the control launch file?
This is the spherical bot which I am working on from the last question. everything seems to run properly while launching the gazebo and rviz launch files. but the moment I launch the control launch ...
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Cartographer on multi robots simulation not running
I am currently trying to set up a ROS2 foxy multi robots simulation.
However I'm facing an issue, the first instance of cartographer that I launch works. But if I try to launch any more instance, they ...
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Start gazebo headless mode based on launch config argument
I was trying to start a simulation in ingition gazebo based on a condition.
condition
launch argument : headless_mode (bool) -> default : False
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Why are moving objects and actors, that have been added to the Gazebo environment, not being detected by Sick LMS Scanner on ClearPath Husky?
I am using ROS Noetic and Gazebo.
https://github.com/JiangweiNEU/actor_collisions is used as the world, but the human walking actor is not being detected by the Husky laser scanner despite ...
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Follow wall and avoid obstacles using lidar
I want to follow a wall and avoid any obstacles on the way.
My robot has a 360 degree sensor (lidar). I want to calculate a line (vector) to follow.
I tried a lot of different solutions but I didn't ...
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Could not initialize robot simulation interface
I'm relatively new to ROS. I started with raw URDF exported from solidworks. Then created moveit_config package by moveit_setup_assistant. Here are the related files:
URDF file:
...
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On Gazebo Sim "gz-garden" install, how to correct ros_gz Compile Errors for ros_gz_project_template "diff_drive example
"How to install ros_gz Garden from Source" on a Ubuntu 22.04 arm64/aarch64 Jammy/ROS 2 Humble machine that has a working "gz-garden".
April 25, 2023. I'm discontinuing this work to ...
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Gazebo Garden sensor plugins for ROS 2 URDF files
I have a Gazebo Garden simulation and I struggle to make it work with Gazebo plugins for the URDF file.
Context
I have a URDF file of my robot, but I first could not find an obvious way to make it ...
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gazebo_ros_bumper outputs contact in other frame than the one specified
I want to simulate a simple force control scheme, namely:
$$ \tau = J^T F_{EE} $$
where $F_{EE}$ is the wedge from the end-effector to the environment. The base of my robot is at $(0,0,0)$ and i want ...
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Are there any tutorials for transitioning from Gazebo Sim to Webots?
Are there any decent/recommended tutorials around for transitioning to webots from gazebo Sim? Or at least setting up existing ROS 2 robots in webots?
I got a bit sick of trying to get the latest ...
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To demonstrate motion planning of a Husky robot through dynamic environments using Gazebo, how can I introduce moving characters in Gazebo?
I am working on the ClearPath Husky ROS Navigation stack and am trying to demonstrate the motion of Husky through an environment with dynamic obstacles in Gazebo.
I see that mostly such a ...
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URDF to SDF Frame of Reference Calculation for Base Joint Fixed vs Floating
I am trying to simulate a robot I do not want fixed to the Gazebo world I am spawning it into. However, when I make the joint between my base link and the world floating, I get unexpected behavior in ...
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Want to make an URDF starting from a robot .STL
I want to make an URDF from a Staubli TX2-140. I have the .STL of the all arm. Does someone know how to separate it to get individual links .STL?
Thanks
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Staubli TX2-140 URDF
Where coul I find the URDF for Staubli TX2-140? I want to insert it in ROS and Gazebo and also use Peter Corke python toolbox to model it? How can I implement it in the toolbox?
Thanks.
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Gazebo Plugin not found
I am trying to simulate wind on gazebo garden on ubuntu 22.04. So, I found this plugin libgz-sim-wind-effects-system.so in my plugins path and included it as ...
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How to make specific link static?
I want to simulate a RR robot in gazebo and I want to place the first link over a box. This box shouldn't be a part of the simulation, and is there only for visual effect.
How can I make a specific ...
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Why the robot is not at the zero configuration
As part of my testing, I was using Kuka's arm to test some kinematic controllers. In the picture below, when the arm is spawned in Gazebo, the positions of the joints are zero (i.e. obtained from <...
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The mobile robot doesn't reach to the max speed
The youBot mobile robot is being used to test some kinematic controllers. There is a problem with the base not reaching the maximum speed. A maximum linear velocity of 1.5 is defined in the ...
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gzclient: Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
This warning:
gzclient: Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
is happening whenever I run my ...
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ros-gz integration
I am trying to connect ros and gazebo garden using a bridge.
I am working on ubuntu 22.04. I have ros2 humble and gazebo garden installed. I am following the readme of this repo https://github.com/...
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Gazebo Garden plugin and nested models?
I have a problem that I'm not able to solve with Gazebo Garden.
I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK.
Differently from Gazebo ...
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Transparent Interior of Mesh in Gazebo
I am trying to use a tunnel-like mesh in gazebo as a model of its own. I have the pointcloud and I followed this tutorial to transform it to a mesh https://gazebosim.org/api/gazebo/3.3/pointcloud.html
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Gazebo Garden plugin and nested models
I have a problem that I'm not able to solve with Gazebo Garden.
I wrote a System plugin that handles a stereo camera, I need a plugin to interface the simulator with our SDK.
Differently from Gazebo ...
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Simulating Velodyne Puck Lite
I am trying to simulate a Velodyne puck Lite on Gazebo Garden but I am not sure how to go about the rotation speed of the lidar.
Does adjusting the update rate and making the angle of the rays of the ...
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Gazebo Garden Lidar Visualization
I am trying to visualize a point cloud of the lidar so I used the file in the Gazebo Garden tutorials (link: https://gazebosim.org/docs/garden/sen...) and I added these two lines for the Vsiualize ...
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Programmatically set joint friction in Gazebo Fortress (previosly Ignition Fortress)
I have a plugin for classic Gazebo to control a vehicle that used the solution from the following question to implement braking:
https://answers.gazebosim.org/question/16442/how-to-programatically-set-...
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Gazebo throws "Segmentation fault" after installation from binaries
System info:
OS: Ubuntu 22.04.1 LTS
CPU: AMD Ryzen 7 4800H with Radeon Graphics
GPU: NVIDIA GeForce GTX 1650
NVIDIA driver: 520 (proprietary)
I just installed ROS2 Humble + Gazebo with ...
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How to check if arm_controller is up and running or not?
I have a Gazebo simulation running with a spawned robot. I also have initialized two trajectory-based controllers using JointEffortInterface for Gazebo-ROS plugin - ...
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In which specific scenarios does MoveIt initialize a separate node with the name `\move_group_commander_wrappers_...`?
I am trying to use MoveIt Python interface to send commands to my robot simulated in Gazebo Environment.
In scenario 1, when I launch the gazebo world (using launch file) and spawn my robot, the ...
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Spawn robot model using rospy in Gazebo
I am trying to spawn my robot model using rospy in my python interface to Gazebo.
In the launch file, I spawn the robot using:
...
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How to install Gazebo to use along with ROS2 Humble Hawksbill on Ubuntu 22.04?
I have used ROS noetic before by installing the full desktop version which comes along with gazebo simulator and its plug-ins (gazebo_ros_pkgs) ready to use with ROS directly. Due to some requirements,...
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Mounting the ur5e robotic arm on a table
I am working on testing motion planning algorithms on a robotic arm. My arm collides with the ground while moving it from one point to another point. My solution to this problem is to mount the arm on ...
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Drawing in gazebo ROS
I am trying to simulate motion for a ur5e robotic arm. I am using the concept of Rodrigues rotation to get the orientation for the end effector. Is there any way to draw a line in gazebo or RViz from ...
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Custom sensors and materials simulation in Gazebo: how to simulate specific sensors behaviors for heterogenous materials / buildings
We are currently working on a simulation for a drone that would evolve in an urban environment. It would flight in front of facades and thus must avoid collision into walls, balconies, windows, etc. ...
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sensor breaks tf tree in ROS
I am currently trying to add sensor(lidar) into my robot. I made base for a sensor, link to which sensor is attached through gazebo reference.
The problem is that adding a tag for some reason creates ...
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What robotic simulators simulate the reflectivity of objects?
I want to simulate the reflectivity of objects in a simulation because I want to use a 2D laser scanner to detect certain objects that have higher reflectivity than other objects in a particular scene....
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Reload Gazebo without quitting app
I'm using Gazebo with ROS 1. Every time I re-run my ROS code, I seem to have to quit the Gazebo client and start it up again. Starting up the Gazebo client application takes a long time and I am ...
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Simulate Wind in Gazebo - physics_msgs
I am trying to simulate a drone inside an environment with constant wind. I have found a good plugin (link below) and I have done the following to integrate this plugin in my system:
include the ...
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gazebo world with roof
Does anybody know of any readily accessible gazebo worlds with a roof?
I have several environments without a roof, and one with a roof (that is too high up for the required purpose), i could do with ...
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ROS: How to slow down in order to wait for my results
I am doing a very complex calculation inside a node using some other libraries.
The node is...
doing the calculation in an endless loop
it is calculating from the last calculation to ROS::Timer::Now()...
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How do I build a world for a line follower bot in gazebo?
I am just starting off in robotics with my own little pet project: a line follower using openCV. However, I have no idea how to create a world in Gazebo for the bot. I went through the official Gazebo ...
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TF broken in Hector Pose Estimation when fusing IMU and Pressure Sensor, frames are not correct and pose also not correct
Im doing some underwater UUV Gazebo simulation and would like to use the
hector_pose_estimation
package to fuse IMU and Fluid pressure sensors input for pose estimation. In the gazebo launch file I ...
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