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"/gazebo/apply_body_wrench" service is missing

I want to apply force to an object in ROS2 Gazebo but "/gazebo/apply_body_wrench" service is not available in ros2 service list. After adding "...
Pratham's user avatar
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Ignition Gazebo - Physics

Can someone help me understand how to add RayTrace to a system plugin? I was reading through the documentation on the same at physics Can someone help me understand how to add RayTrace to a system ...
Rejin Jacob's user avatar
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Unreachable Velocity in Jerk Limited Trajectory

I've recently been developing a jerk limited trajectory algorithm. I've gone through all the analytical solutions for every profile to find the time optimal solution, and then quantized to the nearest ...
2610man's user avatar
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Gazebo-11, Get forces in joint in current step

I have a model plugin that read the joint wrench (GetForceTorque) and update it beforePhysicsUpdate. But I realize that the GetForceTorque, called in beforePhysicsUpdate, provides the resultant wrench ...
cbn.joao's user avatar
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1 answer
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Documentation on Gazebo Trivial Physics Engine

A few years ago, Trivial Physics Engine (TPE) was announced for Gazebo Sim. I don't seem to find any documentation though. Would anyone know of a project that uses this? Drone swarm simulation maybe? ...
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Why does marker disappear when I remove static field?

Disclaimer- new to gazebo, but familiar with ROS/C++ gazebo-11 I am trying to add a model to gazebo of a marker so I can add a plugin to move that marker. However, when I remove the static field, the ...
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1 answer
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Prismatic joint for lift door having strange behaviors when its parent lift model is loaded with heavy robots

Hi there! I am working on lift models to transport robots in RMF with ROS2 Eloquent and Gazebo 9.13.2. But my lift models are misbehaving when loaded with heavy robots. Background The basic structure ...
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1 answer
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Bounce in Ignition/DART

What is the appropriate way to set bounce in ignition? I've successfully set bounce in gazebo by setting the restitution_coefficient, ...
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1 answer
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How to set the maximum number of contacts with Dart engine?

Hello, I am using dart as physics engine for Gazebo 9. I need to reduce the maximum number of contacts between two colliding body. In the sdf documentation, there is a “max_contacts” parameter which ...
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1 answer
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Cannot delete models when using the transport system

Hello. I am attempting to use the transport message system to have one plugin request another plugin to delete several models, using the world.RemoveModel() method, or model.Fini() method. When this ...
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1 answer
4 views

Simulation timing in gazebo?

I have set the following condition in my world file. I want real time factor to be 1 so that both simulation and real time run at same speed. But when I launch the world file, real time factor ...
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1 answer
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Physics problem with simple movement of grasped object

The robot tool is a prismatic gripper with four rods that slip into matching holes on the object to be grasped. Using this gripper to move the object works fine for motion perpendicular to the rod ...
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1 answer
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Possible to learn ROS without advanced mathematical skills?

I'm an engineering student (sophomore / Calculus II level) with a plan to get a Master's or PhD in robotics, ultimately. I got started in this after being introduced to Arduino and the maker scene, ...
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3 answers
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Changing physics engine through URDF

Hi everybody Would you please tell me that how can I change physics engine (eg. ODE, Bullet , ...) through launch file and URDF. I have created a package that contains one xacro file (which is used to ...
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1 answer
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Simulation of pendulum not working as expected using ODE physics

I am evaluating the physics engine of Gazebo and am having a strange problem getting a simple rotary inverted pendulum to work. My analytical solution shows that the natural period should be less ...
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1 answer
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How can I use my own physics engine?

Let's suppose I have my own physics engine, how can I make it interact with gazebo? I can't find any description on how the simulation loop works or when all the physic routines are called. Looking at ...
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1 vote
1 answer
22 views

ROS with Chrono Engine

Hi All, I was shopping for a physics engine that did, well, everything, and everybody pointed me toward Chrono. It certainly does seem to fit the bill. Of course, not everybody is like me and wants ...
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2 answers
66 views

Gazebo: disable physics or enable kinematics through code/command line

I know that Gazebo has its own answers page, but it doesn't seem to be up anymore so I thought I might try here. I am trying to send model state information to gazebo for my robot, and control it ...
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1 answer
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Gazebo5 simulator ball bearings leak through bowl walls

I have created a simulation where 1000 ball bearings are put inside a bowl. What happens is that some of the balls get through the walls of the bowl, leaking outside it. Most of the balls remain ...
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1 answer
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Tips for making an urdf model

Hi, I want to make an urdf model for an existing robot using xacro. It is a simple robot with one arm and a moving base. What physical properties are important to include in the model, and which can ...
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1 answer
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Robot falling apart on unsmooth terrain

I have a multi-link robot SDF in Gazebo 2.1. It is a simple "static" model with just inertia and collision elements defined, no transmission elements or motors specified. When I let the ...
Martin Pecka's user avatar
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1 answer
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Disable physics engine

Hi, I was wondering if it is possible to disable completely the physics simulation and have only kinematic simulation (something like OpenRAVE). Thx, Enrico Originally posted by Enrico Mingo on ...
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1 answer
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Which physics engine is used by gazebosim?

Gazebo supports 4 physics engines. How do I find out which one of these four my compilation is using? I would be pleased if you can help me out. Kind regards Andi Originally posted by nerdOmat on ...
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1 answer
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Gazebo vs. Bullet vs. Gpu

Hello all, as Gazebo 1.9 can be used with Bullet engine 2.8 (http://gazebosim.org/w/index.php?title=Tutorials/1.9/bullet) and this version should support some physics acceleration on GPU (http://...
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1 vote
3 answers
42 views

The inertia matrix explained

Hello. I'd like to find some documentation about the inertia matrix in Gazebo/ROS (this topic is located in between). Here is the ROS wiki page: http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%...
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1 answer
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General Gazebo Questions before starting with a master thesis (robot control strategy, joint control, physics and dynamics, gazebo-ros-components)

Hi everyone! Because I am planning to write my master thesis using Gazebo and ROS I have some basic questions concerning various topics. The objective: My goal is the simulation of a 5dof robot arm, ...
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1 answer
16 views

how to call pause_physics service

i cant seem to do: pause_physics_client=rospy.ServiceProxy('/gazebo/pause_physics',PausePhysics) there doesn't seem to be a PausePhysics.srv anywhere under ...
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1 answer
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What should we expect from Simbody?

Hi, I can notice on Bitbucket that you are working to integrate Simbody into Gazebo. This sound like a good news, since so far ODE is very disappointing for legged robots. What should be expect from ...
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1 answer
2 views

Is it possible to check whether a model intersects some geometry?

I would like to use Gazebo for simulating underwater vehicles. Ideally, I would want to know how much of my vehicle's volume is submerged in a water body, this allows me to calculate how much buoyancy ...
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1 answer
2 views

Bullet Physics Engine no longer on DRC Roadmap?

It appears the Bullet Physics Engine is no longer mentioned on the DRC Roadmap. http://gazebosim.org/wiki/DRC/Roadmap Is this an oversight, or is Bullet out of the picture for the VRC? Knowing the ...
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1 answer
16 views

Is it possible to reduce inertial sensor noise by adjusting gazebo parameters?

We've noticed that the IMU and force-torque sensors are extremely noisy (well beyond expectation for real sensors). I imagine this is likely a result of the normal imperfections of simulating physics ...
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1 answer
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hector_quadrotor_demo goes unstable when robot gets high enough

Related to a ros package, so originally asked on answers.ros.. but can anyone see a reason why a simulation would become unstable and subsequently crash because of the position of a robot in Gazebo? ...
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1 answer
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Unstable hector_quadrotor above a given height

Can anyone see a reason why a simulation would become unstable and subsequently crash because of the position of a robot in Gazebo? The robot in question is the hector_quadrotor and when elevated high ...
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1 answer
3 views

Is it possible to distribute sensors over multiple computers?

I would like to simulate a number of robots (up to let's say 10) in real time, each with a significant sensor suite. Is it possible to distribute sensors as slaves to the physics simulation across ...
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1 answer
2 views

Gazebo Crashes when modifying joint velocities

Hi All Just trying to test a plugin to a sdf model of a 7DOF manipulator. In order to test, my i've included the following line in the plugin's OnUpdate() method: joint1->SetVelocity(0, 0.001); ...
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1 answer
3 views

Simulated quadrotor is slowly drifting on its own

Hello, I've noticed that on my install (fuerte from debs, quadrotor from svn -r 403), according to the "ground truth state", the quadrotor slowly drifts when not provided with a control ...
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1 answer
6 views

Gazebo physics solver question: conservation of momentum

I'm trying to work with a door model that does not behave as I would expect. I am trying to get the door to swing freely once a force is imparted to it, but no matter what I change in the urdf, the ...
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1 answer
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ROS Answers SE migration: ODE in gazebo

Where is ODE physics engine in gazebo, where is it used exactly? Originally posted by Penny on ROS Answers with karma: 41 on 2012-03-13 Post score: 0
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