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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Difference between RotorS/CrayS in classic Gazebo vs Ignition-Gazebo(based on RotorS) for multi-rotors? Difference in functionality?

I have been looking to simulate Multi-rotors(mostly quadrotors) in Gazebo. I saw that RotorS framework does it in classic Gazebo (Gazebo 11) and new Gazebo (Ignition-Gazebo) is based on RotorS/CrazyS. ...
vbalaji21's user avatar
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How do I properly model tires in Gazebo?

I created a complete URDF of a car-like robot, which I simulate in Gazebo Harmonic with the DART engine connected to ROS2 Iron. It drives around nicely, but going above 6 m/s introduces intense ...
multiplex's user avatar
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Issues Installing TurtleBot3 Simulation Package and Turtlebot3 Packages

I’m trying to load a Turtlebot3 Model in the TurtleBot3 World. My reference is: https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/ I’m using ROS2 Humble, Ubuntu 22.04. I installed the ...
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Unable to see drone, scene in Gazebo Harmonic

I have installed Ardupilot-ROS2 SITL with gazebo harmonic, and I have followed the instructions as mentioned. When I finally test ros2 launch ardupilot_gz_bringup iris_runway.launch.py Gazebo just ...
Mahee's user avatar
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Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
Asmaa GZ's user avatar
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Add a lidar to O3DE ros2 project

I'm using O3DE 2310.2 from the .deb download in Ubuntu 23.10 and have sourced my ros2 install/setup.bash, then launched o3de. Next I created a new project using the ...
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Problem with simulating correctly my robot when using EffortJointInterface

Hello everyone i'm simulating a differential drive robot on gazebo 11.0 (i'm using ROS noetic), and i'm trying to control each wheel separately using velocity control and using an EffortJointInterface,...
Siimo Ch's user avatar
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Robot is not moving to Goal location. Moving in straight direction only

I have simulated the robot with libgazebo_ros_diff_drive.so plugin. I have written python script to move robot to goal location. But When I am running this go_to_goal.py, the robot is moving in ...
Santosh Konduskar's user avatar
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Attaching a Tether to another robot's base_link in gazebo

I am trying to simulate a tether attached to my robot in gazebo. I am describing the robot and the tether using urdf xacro files. My tether is modeled as a chain of ...
Tanay Garg's user avatar
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My global and local coast map is not aligned with the map and not showing any sign of obstacle

enter image description here HI, I am currently build an AMR in which i am facing some errors in the navigation that is my local and global coast map is not proper shown and aligned in the rviz,it ...
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Webots: add a RosCamera to ros_automobile controller?

I took the boomer example project and changed it to a ros_automobile controller by copying the source of ros_automobile into my project. It works and I can put it into gear and set the throttle and ...
Lucas Walter's user avatar
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Turtlebot 4 Simulation- Rplidar not working in Ros galactic

I have problems with de simulation with ros galactic, I can't to generate a map, I believe that the problem is the rplidar, because when I ran the next command ...
Andrius Jaya's user avatar
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Planned trajectory times different from actual robot times

I am using moveit2 Humble and Isaac Sim from Nvidia. I use the MoveGroupInterface to plan a trajectory with 4 waypoints. Each waypoint is planned with a call to <...
birkett's user avatar
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Webots: How to fix a base_link in simulation

So I set up a simulation of a robotic arm in Webots. However, the collisions between the base_link and the ground_plane seems to ...
Mink's user avatar
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Add covariance to gazebo sensors in ROS2 Gazebo Garden

Currently my ROS2 simulation doesn't populate non-zero a covariance for /imu/data or /gps/fix. I would like to have covariance ...
Bhooshan Deshpande's user avatar
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Bad communication between Gazebo Harmonic and ROS 2

I have a robot system defined in an SDF with the following: ...
pdaranda661's user avatar
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What should GZ_SIM_RESOURCE_PATH be pointing to?

Hi I am having trouble what my GZ_SIM_RESOURCE_PATH should be pointing to. Should it be pointing to a folder of models? worlds? both? Anyone have any recommendations of what I should do to resolve ...
robot_student's user avatar
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turtlebot3_simulation branch new_gazebo colcon build error (gz sim Harmonic)

On a Ubuntu 22.04/x86-64 machine, following turtlebot3_simulation new_gazebo "Migrating ROS 2 packages that use Gazebo Classic", repository. After rosdep, colcon build fails: $ colcon build -...
RossBots's user avatar
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Access position of entities from a plugin

I'm trying to implement a simple light sensor plugin in Gazebo Ignition; this will be output measurements based on the distance between the object (where the plugin is attached) and the light sources. ...
Paolo's user avatar
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How to get link linear velocity expressed in a frame of choice

I'm trying to understand if with Gazebo is possible to get the linear velocity of the link (of its CoM or any other point) expressed in a frame of choice, e.g. its predecessor link frame. I've found ...
Xela95's user avatar
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RobotHWsim how to use it? ROS2 Humble

I'm working with an Ackermann car-like robot. I have an issue with the tf in RVIZ because to make an Ackermann steering you have to make a virtual link due to ROS2 doesn't allow yet 2 dof in a joint. ...
dani santana's user avatar
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Turtlebot3 Gazebo Windows gui error

guy! When I try to open gazebo (in windows) for turtlebot3 it doesnt open absolutely nothing. But when I try to launch a simulation it gives me this error: Segmentation fault (core dumped) [gazebo-2] ...
Ali Maiee's user avatar
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Wheel submerges into the ground in gazebo

I am currently working on simulating a mobile manipulator in Gazebo using ROS 2, where I am facing this issue. The wheels of the mobile base are being submerged into the ground when I am using kp and ...
Vishaal's user avatar
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Apply force to Gazebo model trough ROS2

I am setting up some simulation for a project in which a mobile robot need to avoid some moving obstacles. I wrote the logic to control the mobile robot on ROS2 Humble and I am performing the ...
Biagio Trimarchi's user avatar
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Projection of boundig box from lidar frame to camera image

i am trying to project the bounding box in 3d from lidar frame to camera image in 2d. I am doing this work in ignition-gazebo simulation. so, basically there is no real hardware except my pc. there is ...
Hem92j's user avatar
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Why Does My Gazebo Simulated Truck Move Well in an Empty World But Not in Complex Environments Like Sonoma Raceway?

I am simulating a truck in Gazebo, which operates well in a minimal empty world, responding effectively to cmd_vel commands sent via the bcr_teleop package. However, when the simulation is run in more ...
Marcus Vinicius's user avatar
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1 answer
93 views

Lateral control for autonomous vehicles

I am working on autonomous vehicle control, i used the kinematic bicycle model, For the speed reference I used a speed profile not a constant speed(given below [![speed][1]][1] for the steering angle ...
Asmaa GZ's user avatar
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102 views

What is the best way to simulate Lidar for ROS2? Having problems

I have been trying to work out how to simulate a LiDAR using ROS2 / Gazebo, however I am having trouble getting anything to work properly. I am using ROS2-humble and IGN gazebo fortress I have tried 2 ...
Friizzle's user avatar
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Is collision checking easier when using primitves vs equivalent stls (moveit)

I am wondering whether collision checking using primitive shapes (defined in the URDF) is faster than using equivalent .STL or .obj geometries. With equivalent i mean creating cylinders, spheres and ...
MIKE PAPADAKIS's user avatar
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Where can I find Google Scanned Objects?

From Scanned Objects by Google Research: A Dataset of 3D-Scanned Common Household Items, it mentions google scanned objects are hosted on Open Robotics but I couldn't find it. In “Google Scanned ...
Chen Ken's user avatar
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Modelling thrust on quadcopter in simulink

I want to model aerodynamic forces such as thrust on all motors of quadcopter in simulink.But equations for thrust involves density of air , but then we have to include model air in simulink . So what ...
pranjal verma's user avatar
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Hexacopter Simulation

I am doing a project to simulate a hexacopter with the mathematical model and its dynamics with PID. I've got the theoretical knowledge but am stuck on simulation. Would any of you happen to have any ...
DragonSlayer's user avatar
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SOLVED: How to visualize in rviz2 fixed frame a Pointcloud2 collected w.r.t. a mobile frame

I'm using ROS2 Humble on Ubuntu 22.04. In my project I'm trying to visualize in rviz2 a pointcloud generated by a depth camera, mounted on a drone simulated in gazebo garden. Thanks to this topic I've ...
AleCavalliPolito's user avatar
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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 ...
Muse Eyassu Gimicael's user avatar
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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,...
han han's user avatar
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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, ...
zorx's user avatar
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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 ...
racaraca69's user avatar
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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 ...
姚馥兰's user avatar
1 vote
1 answer
55 views

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 (...
Gabriele's user avatar
1 vote
1 answer
67 views

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-...
Biagio Trimarchi's user avatar
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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 ...
Kimberly McGuire's user avatar
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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 ...
Pulak's user avatar
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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 ...
Pantelis Manouselis's user avatar
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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 ...
Pantelis Manouselis's user avatar
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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: ...
KKKmelody's user avatar
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1 answer
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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 ...
zhang handsome's user avatar
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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: ...
Pantelis Manouselis's user avatar
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1 answer
122 views

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 ...
Robotawi's user avatar
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3 votes
1 answer
286 views

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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