Questions tagged [simulation]
Robotics simulators represent the world in software. They range in complexity from the simple and only operate in a top-down 2D world, or very complex with photo-realistic rendering and physics modeling.
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Disable shadows for one camera in Gazebo Sim
I have a Gazebo Harmonic simulation, in which I have some lights which cast shadows. I would like to keep those shadows for the overall simulation (i.e. the camera of the GUI), but disable all shadows ...
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How to move the link origin?
I understand that the collision, visual, and inertial origins are all starting from the link origin, but how do you change the link origin? I have a joint in the wrong place (relative to the child ...
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husky simulation installation, but there is an error about joystick
I installed the husky simulation desktop as follows (refer to the clearpath website):
sudo apt-get install ros-noetic-husky-simulator ros-noetic-husky-desktop
then,...
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Turtlebot3 gazebo simulation not loading in ros2 humble
Just updated to ROS2 Humble and Ubuntu 22.04,
Went through all the setup instructions for both ROS2 humble and Turtlebot3,
ROS2 humble and Gazebo Classic
This is the error that is occurring,
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SW2URDF model is floating in Gazebo
I get my URDF using SW2URDF plugin in SolidWorks. Iam following this instruction.
From the instruction, I need to add link and joint as "world" and set the child link to the base link, (It ...
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How to simulate a cable-driven soft robot in gazebo
A cable-driven soft arm, as shown in the diagram below, was modeled using PCC. The arm was divided into several segments, and the forward kinematics for each segment, as well as the overall kinematics ...
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How can I use the Gazebo Garden Profiler to get performance information about individual plugins?
I am using gz garden to simulate a complex robot consisting of multiple components. I have already simplified with primitives the collision meshes, played with max_contacts but I keep getting low RTF (...
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DDS and Simulation Time
I am using a the eProsima Micro-XRCE-DDS agent (https://github.com/eProsima/Micro-XRCE-DDS-Agent) to send messages between my ROS2 application and the PX4 Autopilot (https://github.com/PX4/PX4-...
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Reference to a publication about Gazebo (new)
For an academic paper we'd like to find a system paper describing Gazebo (formerly known as Ignition).
For Gazebo classic, there was this publication:
N. Koenig et al., “Design and use paradigms for ...
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MAV simulation environment with gripper
I need a gripper with MAV for a pick up and drop simulation. Does anyone know of any resources that I can use right off the bat, or with minor changes?
I could find standalone gripper urdf; I did try ...
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Should global costmap have an obstacle layer?
I recently started using the NAV2 stack and I am still trying to understand basic concepts. As I understand it, obstacle avoidance and therefore local path re-planning should be done by the controller ...
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Jagged path created by planner
Edit 3: I consistently notice that when setting the value of w_smooth to 4 or more the planner server crashes (see Edit 2 on bottom of page).
I have a question ...
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Configuration is inaccurate with more Mujoco mj_steps
I tried to construct a simulation env following fetch_pick_and_place. I noticed that the following code is used to initialize the env:
...
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gazebo garden can't load material script
Environment:
$\space$ OS: Linux Ubuntu 22.04
$\space$ gazebo version: garden
Problem:
$\space$ I downloaded the sdf from here, it is supposed to look like this
$\space$ but in my simulation it looks ...
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Inflation Layer doesn't seem to be working in local costmap specifically
I am trying to set up the nav2 parameter yaml file for my robot. The code I wrote for the costmaps can be seen here:
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Alternatives to Gazebo Fortress (Building Editor) Feature?
I've recently transitioned to using Gazebo Fortress and noticed that it lacks a built-in building editor feature, which was a beneficial tool in Gazebo Classic. This editor was essential for creating ...
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Converting IMU random walk, bias instability to stddev, bias stddev, etc
I am trying to create an accurate IMU model in Gazebo based off of a real IMU that I am using.
The Gyro specs are:
Bias instability: 3.5 degrees/hr
Angular random walk: 0.1 degrees/sqrt(hr)
The ...
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Error ("Bodynode mass zero negative") while running other sim engines in Gazebo
While launching a world through Gazebo while using 'dart' sim engine, I see the following error :
[gzserver-1] Warning [BodyNode.cpp:498] [BodyNode] A negative or zero mass [0] is set to BodyNode [...
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Issues with cube stacking controller for Panda Robot using Behavior Trees and Task Space Control
I have been working on a controller for a Panda (Franka Emika) robot (simulation, RobotDART and py_trees) and i can't figure out why the gripping mechanism doesn't work correctly. Initially the robot ...
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Gazebo simulation, faulty on wheel rotation
I'm currently linking a model with my cmd_vel. However, I found some faulty on individual wheels, each of wheels dividedly move. like some are rotating in clockwise, some are couter-clockwise, cause ...
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Applying raw torques to joints in Gazebo simulation
I have a 7dof arm that I want to simulate, and the experiment requires me to be able to apply torques to the 7 servomotors (actuators) in the simulation. I would like to know how I can set up "...
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Gazebo Garden - How to get colliding entities with gpu_lidar sensor (ray)
Good morning, I open this question as I have not found a way to get the model_entity that collides with the gpu_lidar sensor.
I ...
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Problem in Launching Gazebo using bot_launch.py file in launch file [duplicate]
hello good day i experience error on running a launch file in ros2. The file is use to launch gazebo empty world. I'm new in ROS2 i still confuse on how to create workspaces and etc. can you ...
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How to run two functions in parallel in python ROS2
I am creating a simulation with two robots(using ROS2 Iron and on gazebo) who will play Capture the Flag game. I have a python API that sends them navigation tasks, however, the navigation tasks don't ...
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How to control simulation step size from API
I can control the length of a Gazebo step size through the world's SDF. Example with max_step_size=4 ms :
...
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How do people create complex models/worlds in the Gazebo?
I'm trying to learn Gazebo and I'm kinda puzzled about how difficult it is. I'm using the latest LTS version (Gazebo Garden) and following the intro tutorials. I'm manually editing sdf files, with ...
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How to find formating for rosmsg publishing on command line
I want to publish messages to my robot in order to get it to move in the command line but I can't figure out how to format the rostopic pub /topic /type . I'm having issue with the data and how to ...
RichardVZ
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How to save world in Gazebo and go back to that world when I hit reset simulation?
I'm a beginner with Gazebo and just installed Gazebo Garden (v7.5.0) on my Ubuntu 22.04 laptop. I can open a new world, add some shapes/entities to it and save the world to ...
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Problem with Define Robot Poses (in Moveit Setup Assistant)
In this picture, I can use GUI to define any pose of robot. However, I can't drag the slider or enter a number in the box. What is my problem?
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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 can I model a monorail robot in Webots by importing a Solidwork CAD model of robot?
I am new to Webots. I have not good idea about the considerations what should I consider when import a SolidWork CAD model to the Webots. I have a SolidWork model of robot. But I have not good idea to ...
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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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Is it possible to import a .dae mesh file, with its materials, into a webots world?
I don't have an example right now (not at my computer), but I'm hoping to be able to import a world designed, modelled, and textured in Blender (poly count isn't an issue).
I can import the model as a ...
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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_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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Simulink and Arduino - Simulink can't read data from arduino pins
I have a very simple setup depicted by this picture
All I want to do is, using simulink, collect data from pin 8. Simulink model is as follows
However I'm not getting any data, specifically 0. I can ...
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Ros control pid gives different input than expected
I am trying to match the trajectory i am getting from gazebo simulation using ros_control and matlab for a simple pendulum which rotates in the horizontal plane (so no gravity, no friction and no ...
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UAV simulation of obstacle avoidance in Gazebo?
I would like to simulate some 3D path planning capabilities of an UAV in Gazebo. So Firstly, I download a point cloud of an outdoor area with obstacles. I can find any in internet.Than Load the point ...
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Is it possible to spawn and control 2 robots in webots with ROS2?
Hello, I am trying to make a simple application of 2 robots moving around in the webots simulator using ROS2.
I am using the logic described in the tutorials https://docs.ros.org/en/foxy/Tutorials/...
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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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How to add gripper to robot arm and plan according to the end effector on Moveit
Hello! I am simulating for a university project, the Elfin 5 robot arm which package can be found here along with a gripper which package is found here.
Being new to Moveit, I am finding trouble to ...
reuge
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Create A Half Cylinder in PyBullet
I would like to ask if it is possible to use the PyBullet function createCollisionShape to create a half cylinder in PyBullet? If so, how should I do that?
Or, is there any other function in PyBullet ...
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The best way to spawn objects in both rviz and gazebo
Hi all,
I'm trying to generate a simulation that automatically executes grasping multiple times to collect success/fail of the specific grasp configuration. Currently, I have robot moveit package (...
kidpaul
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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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Webots: Increase Calculation Speed On Supercomputer
I am using a supercomputer (MSI, Minnesota Supercomputing Institute) to run my Webots simulations. However, on my own laptop (MacOS) the amount of time necessary to calculations is much shorter. I was ...
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How to make the output axis of hingejoint with rotational motor not affected by physics?
I want the rotational motors be affected only by my controller, not by the physics of the world. The problem is shown in this video. How to fix this?
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Retrieving the global 3d position of a robot or object in Webots
In the context of my simulation, I need to programmatically get the position of robots and objects in the world (in global coordinate system). How can this be done?
I'm using Webots R2023a.
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Definition of Collision Frame and Inertial Frame in PyBullet or Other Simulation Software
I am doing simulation of my robot with PyBullet now, but I guess this question applies to other simulation software as well.
When I am using the functions ...