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Multiple plugins with ROS2 node in gazebo simulation

I am currently struggling with ROS2 Iron and Gazebo Fortress when attaching multiple plugins to a robot that include a ros node. The first plugin I am using with my robot is ...
phill4y's user avatar
1 vote
0 answers
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How to programmatically change the mass/inertia of a link from an ignition-fortress plugin?

I'm trying to dynamically update the mass of a link, during execution, from a gazebo ignition-fortress plugin. Specifically, I'd like to update the link's mass to a small value. What is the right C++ ...
David Brown's user avatar
-1 votes
1 answer
41 views

How to install libraries for plugin development for Gazebo Fortress (Ignition)

I'm trying to write a custom plugin for Gazebo Fortress but facing issues in setting up my development environment. I installed Gazebo Fortress using the Ubuntu binaries as instructed here, but it ...
David Brown's user avatar
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0 answers
44 views

Ignition Gazebo Pose Publisher unexpected behaviour

Good afternoon to everyone. I have the following problem: I'm running a simulation with one turtlebot that is able to move simple objects in a rectangular arena. Both the arena and the objects are ...
Paolo's user avatar
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Gazebo Classic - How to make a directional light source flash?

I want to control the (flashing) behavior of a directional light source using a plugin. I came across the FlashLightPlugin which controls the flashing behavior of a point source.. I thought I could ...
PhiloRobotist's user avatar
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1 answer
440 views

Gazebo plugin location and documentation

I have a basic question regarding gazebo plugins. The gazebo tutorial 'Moving the Robot' available at Link refers to the differential drive plugin coded as shown in the picture. Where can I find more ...
lifelonglearner's user avatar
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0 answers
43 views

VRX with ignition gazebo fortress

I am working on my master thesis project which involves water/waves and a surface vehicle with ros2. I came across https://github.com/osrf/vrx github repo, but the repo is for gazebo garden and ...
Hem92j's user avatar
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1 answer
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what does <body_name> and <frame_name> tag of gazebo IMU plugin imply?

I am trying to implement a IMU sensor in gazebo using this tutorial :http://gazebosim.org/tutorials?tut=ros_gzplugins ...
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1 answer
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How to use gazebo plugins found in gazebo_ros [ROS2 Foxy gazebo11]

I am trying to use the gazebo_ros_state plugin found inside the gazebo_ros folder in gazebo_ros_pkgs. I have included this inside my world file similar to the demo also found in gazebo_ros folder... <...
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1 answer
18 views

gazebo URDF collapsing - need tips for inertia (solved)

Hi, I have a problem with gazebo spawning the links of my URDF model not correctly. So figured out that it is still a problem with the inertia. -I tried to fix it but could not make it stable. When ...
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1 answer
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Adding thermal camera plugin to the robot description in another package

I want to use the thermal camera in my robot. I have 3 pcks : the first package that has the launch file where I it looks from the second pkg for the robot discreption that uses the plugins or the ...
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1 answer
37 views

tf tree problem with map->odom->base_link

Hi, I have a problem with providing the following relationship "map->odom->base_link" in my tf tree. My question is what changes are necessary to fix this problem. In the below ...
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1 answer
15 views

Gazebo laser plug-in fails to publish scan results in rviz

I have added differential drive plug-in and laser sensor (hokuyo) plug-in to my urdf file. I launched the robot in environment shown below and moved the robot using tele-operation. Then i launched ...
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1 answer
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Indigo fails to load clearpath husky in gazebo

So im trying to migrate over from hydro to indigo, and along with that I am trying to move over my custom simulator packages. Im getting alot fatal errors with trying to run my model with gazebo 2.2 ...
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1 answer
7 views

VoxelGridPlugin clearing voxels

I'm trying to use an RGBD camera (I'm using gazebo_plugins gazebo_ros_openni_kinect plugin in simulation with gazebo 1.9.1) with the VoxelLayer. The problem I'm facing is basically that the voxel_grid ...
user avatar
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1 answer
21 views

Using diff drive to drive a new robot

Hello, I'm trying to make a model of my own robot and plugins. However, I can't drive the robot. Moreover,the information is not being published into /gz/cmd_vel or /gazebo/cmd_vel or /gz/odom topics. ...
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1 answer
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Launching Kinect on PR2 Gazebo to get same topics like openni_launch?

Hi all, Information has been updated, but this documentation doesn't mention Gazebo: http://ros.org/wiki/openni_camera http://ros.org/wiki/openni_launch To test a real OpenNI device, I can run: <...
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1 answer
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reference gazebo-plugin in urdf-description

Hi, I'm writing my first description of an robot using urdf. To control the joints i tried to write a plugin for gazebo following the tutorials (simulator_gazebo/Tutorials/GazeboPluginIntro and ...
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1 answer
3 views

Gazebo plugin's UpdateChild() not being called?

Hi, I'm writing plugins for NXT and Gazebo and I was having trouble with the one I'm currently working... After some time I realized that UpdateChild is never executed, or so I think. I have some ...
user avatar
0 votes
2 answers
4 views

Openni Gazebo Plugin stepsize for depth images (bug?)

In the current Fuerte distribution of the libgazebo_ros openni plugin for Gazebo, it seems to be impossible to obtain both the RGB as well as the depth image information. If I look in the code of ...
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1 answer
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Publishing rate of gazebo sensor plugins broken on fuerte?

Hi everyone, it looks to me like the publish rate of sensors in the currently installed gazebo version from .debs (1.4.15-s1338549736~oneiric) is broken. For instance, if I start the hector quadrotor ...
Stefan Kohlbrecher's user avatar
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1 answer
2 views

Problems with gazebo plugin tutorials

Hi, I am now doing the gazebo plugin tutorial and came across some difficulties doing rosmake. My cpp file is ...
user avatar
0 votes
1 answer
14 views

getting collisions in gazebo plugin

Hi all, I'm writing a world plug-in and I would like some event to happen when two specific models collide. My problem is that I don't see the appropriate methods to do this in the gazebosim.org ...
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0 votes
1 answer
5 views

Error in turtlebot_simulator at gazebo_ros_create

I'm trying to run the turtlebot_simulator on Ubuntu Precise with Fuerte, which used to work, but now Gazebo crashes with this error: Service call failed: transport error completing service call: ...
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1 answer
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John Hsu: File missing from gazebo_plugins package libgazebo_ros_time.cpp libgazebo_ros_time.so Meka A2

Ubuntu 12.04 Fuerte John, or anyone else: It looks like the source to build libgazebo_ros_time.so has been removed from gazebo_plugins? The page for the package http://ros.org/wiki/gazebo_plugins ...
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0 votes
2 answers
2 views

EDIT:Setting up environment pr2_gazebo on ubuntu 11.4?

I have a dual boot with Mac OSx 10.6.8 and Ubuntu 11.4, I am attempting to get pr2_gazebo empty_world.lanch up and running. I am able to rosmake and run gazebo_worlds, but not the specific pr2 ...
user avatar
0 votes
1 answer
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How to insert breakpoints and step through a Gazebo plugin?

Hello, Does anyone know if there's any way to insert breakpoints and step through a Gazebo plugin? This would be very useful to help with debugging logical errors. I've tried inserting breakpoints in ...
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0 votes
1 answer
4 views

gazebo crashes on start, shared_ptr error

Hi! I was writing a plugin for a NXT robot I made and after studying erratic's diffdrive_plugin and turtlebot's gazebo_ros_create I think it's ready for a first test ride. But when I try to launch my ...
user avatar
0 votes
1 answer
15 views

real time and sim time in gazebo

Hi everyone!!! I have little problem with Gazebo. How I can make the sim_time equal to real time?, in another words, How I can do for what 1 seconds in sim_time equal to 1 seconds in real time? Thanks!...
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1 answer
4 views

Selecting joints by mouse click in gazebo

I'm pretty new to ROS/gazebo and I need to select a joint with mouse click in gazebo (to let the user set its position or drag the joint to specific location by inverse kinematics). Is there any API ...
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1 answer
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rosmake don't create .so file for gazebo plugins

Hello! I made some gazebo plugins (a diffdrive and a range sensor) and it works fine. The problem that i have is if I do just a rosmake of my packages it compiles but don't generate the ".so"...
user avatar
0 votes
1 answer
5 views

Learning to write a gazebo plugin... where to start?

Hi, I'll try and be blunt: My goal is to code what is left to build a simulator using ROS and Gazebo for the Lego NXT. Over the last weeks months I've been trying to learn as much as I could of how ...
user avatar
0 votes
1 answer
54 views

Interpretation of IMU data from the gazebo_ros_imu plugin

We want to use the gazebo_ros_imu plugin for the simulation of our quadrotor and other vehicles in Gazebo. When looking at the output and source file of the plugin, several questions arise: When the ...
user avatar
0 votes
1 answer
10 views

change orientation of ray sensor

I'm working with the ray sensor plugin for Gazebo, such as the one used by a Hokuyo laser range finder. I'm having trouble getting it in the right orientation for my robot. I've tried to orientate the ...
user avatar
0 votes
2 answers
11 views

using camera sensor in Gazebo

where can i find documentation or examples about camera sensor? I need to create a camera sensor and i need to move it around the robot. thanks in advance. Originally posted by Maurizio88 on ROS ...
user avatar
0 votes
1 answer
2 views

Gazebo, pioneer model and plugins

I'm porting a pioneerAT gazebo model on urdf model for ros. What I should do is loading that urdf model on gazebo (ros version) and after move the robot programmatically (I have to test my own path ...
user avatar
0 votes
2 answers
2 views

How append a new plugin to Gazebo from a different package?

Hello All: My name is Ivan, I'm working on a project with ROS and Gazebo. but I have the following problem: I have a package (wam_description) where is the file urdf the robot, and in another package ...
user avatar
0 votes
1 answer
1 view

irBeams inside IRSensor

I'm working with gazebo simulator, in the IRSensor.hh file (in gazebo/build/gazebo/server/sensors/ir/IRSensor.hh) is declared ...
user avatar
0 votes
1 answer
1 view

Gazebo IRSensor parameters configuration xml

Hi everyone, I was working with simulator_gazebo developer version to create IR and SonarSensor for gazebo (in diamondback), and i made it!! but now, in order to use my work everyone need to install ...
user avatar
0 votes
2 answers
2 views

how to create a patch

Hi I'm working with gazebo simulator and I developed some new stuff (sensors) that i would like to share, what is the normal procedure to do that? To share my package, have I to send my entire gazebo ...
user avatar
0 votes
1 answer
2 views

How to create a package for new gazebo plugins?

Hi, I have created plugins for IR Sensor and Sonar Sensor. I want to create a package for both so that it can be tested on other computer and then submitted to ROS. Further i would like to mention ...
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0 votes
1 answer
1 view

AddingSensorsToPR2 tutorial errors

Hi guys, I am going through the urdf/Tutorials/AddingSensorsToPR2 tutorial. This tutorial basically shows how to add new links and attach sensors to a link in gazebo. Although the new links and ...
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0 votes
1 answer
17 views

Which stack is has file libgazebo_ros_openni_kinect.so?

I am running simulation TurtleBot (roslaunch turtlebot_gazebo turtlebot_empty_world.launch) and taking error "Failed to load libgazebo_ros_openni_kinect.so: libgazebo_ros_openni_kinect.so: cannot ...
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0 votes
1 answer
5 views

force frame of reference for gazebo ros bumper

Hi, I wanted to use the gazebo_ros_bumpers and retrieve the force vector for each contact. However, when drawing the vectors, it appears to me they are not in a correct reference frame. I think, ...
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0 votes
1 answer
7 views

Gazebo Tutorials for creating a plugin?

I have created some sensors and i want to make plugins of these sensor like the one defined in gazebo_plugins page Are there any guidelines or tutorials for creating Gazbeo plugins? Originally posted ...
user avatar
0 votes
2 answers
4 views

openni kinect gazebo no depth data

Hello I'm trying to use the simulated kinect in gazebo, I just copy pasted the gazebo kinect snippet used in turtlebot and adapted it to my needs. the topic /camera/image_raw is publishing and I can ...
user avatar
0 votes
1 answer
1 view

Two difference implementations of IRSensor code?

Hi everyone, I was working with IRSensor and i found out that there are two different implementations of the IRSensors. The IRSensor available in diamondback, most of the part is commented out while ...
user avatar
0 votes
1 answer
1 view

Implementation of header files?

Hi everyone, I was searching for the implementation of header files like MultiRayShape.hh, RaySensor.hh, but i didn't found it in any folder, do anyone have any idea where these files are implemented. ...
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0 votes
2 answers
4 views

Incorrect camera extrinsics for simulated Gazebo cameras

I am simulating several cameras in Gazebo using the gazebo_ros_camera plugin in the gazebo_plugins package. All of the cameras ...
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0 votes
1 answer
1 view

Reading bumper state from PR2

System: Ubuntu 10.10, kernel 2.6.35-27, 64 bit. ROS: Latest diamondback from the repositories. I'm following the PR2 tutorial here: http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls ...
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