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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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 : ...
TheotimeBlg's user avatar
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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 ...
kramer65's user avatar
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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 ...
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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 ...
kramer65's user avatar
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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?
Vrushab Jain's user avatar
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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 ...
MIKE PAPADAKIS's user avatar
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1 answer
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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 ...
Chathuranga Weerasinghe's user avatar
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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 ...
Mechaick's user avatar
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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 ...
Jishnu's user avatar
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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 ...
Craig MS's user avatar
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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 ...
RossBots's user avatar
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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 ...
MIKE PAPADAKIS's user avatar
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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 ...
MIKE PAPADAKIS's user avatar
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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 ...
Bob9710's user avatar
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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/...
smarn's user avatar
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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 ...
mh1309's user avatar
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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 ...
MIKE PAPADAKIS's user avatar
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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 ...
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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 (...
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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 ...
Myzhar's user avatar
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4 votes
1 answer
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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 ...
user33074's user avatar
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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?
Addy Pete's user avatar
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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.
Daniel Dias's user avatar
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1 answer
105 views

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 ...
Aurora7979's user avatar
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186 views

Is it possible to immobilize one part of a robot?

I need to fix one part of my robot to the static environment. Can this be done in Webots? I'm using R2022b.
Daniel Dias's user avatar
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1 answer
576 views

Why is Webots running so slow on my computer?

The provided sample simulations are running very slowly in Webots. How can I improve this? I am using Webots R2022b on Ubuntu 22.04.
Yannick Goumaz's user avatar
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1 answer
103 views

Read device value from another robot controller in Webots

I'm using Webots R2022b and I would like to have a supervisor controller that applies an algorithm on the camera data recorded by the Mavic2Pro drone on an another robot. But, when calling the ...
Stefania Pedrazzi's user avatar
1 vote
1 answer
1k views

How to import 3D models in Webots?

I have 3D models with UV mapping and textures in Blender and I would like to import them in Webots. Can you please recommend the best way to do this?
Olivier Michel's user avatar
1 vote
1 answer
221 views

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-...
sgvd's user avatar
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Simulate GPS IMU With Quadcopter Swarm?

I have multiple drones work in swarm formation, i made the quadcopter model and the swarm one. Until now i have the swarm moving in a formation leader-follower and track a predefined trajectory based ...
jack abraham's user avatar
1 vote
1 answer
35 views

AWS RoboMaker simulations + testing explained

I am trying to understand how AWS RoboMaker and WorldForge work, and am having trouble "seeing the forest through the trees," and might need someone to "explain it to me like I'm 5"...
hotmeatballsoup's user avatar
2 votes
1 answer
413 views

Simulator that allows your to test your real firmware inside a simulated world?

I am interested in learning more about how robotics are tested in simulators. Reading the Wikipedia article on robotics simulators I can't tell how the onboard firmware (the "brains" of the ...
hotmeatballsoup's user avatar
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2 answers
80 views

Is it possible to use coordinates to modify the floor into a polygon in Webots?

I'm using Webots to model an irregular polygon floor for a coverage problem. I want to define the floor using the coordinates of the vertices. So far I have been able to generate an irregular polygon ...
Jay's user avatar
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1 answer
107 views

Simulating robotic swarm

I am playing around with swarm robotics and trying to figure out a way to simulate it. Here is my dilemma: I am trying to simulate thousands of agents that will asynchronously communicate with local ...
joethemow's user avatar
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1 answer
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foxy can't launch gazebo11 model and report SyntaxError

hello, I'm trying to use the foxy to launch the simulation environment(gazebo11) on the ubuntu20.04,but can not load the robot model and report an error. The error is as follows: ...
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Turtlebot3 doesn't move in a straight line while sending goals to Nav_stack!

Hi everyone! while using the code that sends goals to the navigation stack from this Link: https://wiki.ros.org/navigation/Tutor..., and using a simulated turtlebot3. Namely, the robot doesn't move in ...
user avatar
1 vote
1 answer
86 views

Training Multiple Robots for different tasks at the same time using Deep Reinforcement Learning

I'm wondering if a single agent can train multiple robots to perform different tasks simultaneously. If possible, can you please recommend me some research papers and implementations that I can take a ...
Charika Perera's user avatar
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1 answer
604 views

Solving pseudo inverse of Jacobian in Matlab/Octave

I'm attempting to create a simulation of a 3 (rotational) DOF robotic arm in 3D space. So far I've had success getting to the Jacobian. What seems to be the issue is that the pseudo inverse of the ...
Karbon14's user avatar
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1 answer
25 views

Is there a way to synchronize ROS time and the time originating from a rosbag?

Some details: I'd like to compare real world data with simulated data, for this reason I'd like to play a rosbag (containing the real world data) and apply the recorded commands to a Gazebo model of ...
user avatar
2 votes
0 answers
115 views

What inertial information can I get from a SolidWorks object for simulation in MuJoCo?

MuJoCo needs me to enter the position of the inertial frame and the diagonal of the inertial matrix, (if I understand correctly). I'm not sure how to get this information from SolidWorks. This object ...
Ant's user avatar
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1 answer
25 views

gazebo unreasonably slow with simple world and robot (on GPU PC)

Hello goal I aim to simulate a (somewhat) complex world with a very simple robot model. problem The real time factor drops to values between 0.1 and 0.01. This makes the simulation unusable. ...
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Navigation on turtlebot3

Hi everyone, I would like to ask for help on navigation stack because I don't really understand how it works and how to use it. I have a turtlebot, a map (pgm and yaml file) and a python script I made ...
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1 vote
1 answer
913 views

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 ...
robo1996's user avatar
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1 answer
50 views

Underwater Glider Obstacle Avoidance simulator

I am currently taking part in a project where a team is building an autonomous underwater glider with obstacle avoidance features. However, since I do not have a background in Robotics (I am in ...
truvaking's user avatar
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1 answer
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Need Info on simulated turtlebot2(melodic and/or kinetic)

I am looking for where to get a simulated turtlebot2. I recall finding a github link but I cant remember. If anyone uses simulated turtlebot2s please tell me how you got it or if you can make a github ...
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1 answer
23 views

Transform time issue (gmapping & stage)

Hello, I am running Ubuntu 20.04 (kernel 5.11.0) on a x64 AMD Dell Inspiron. I use ROS release Noetic with the following relevant package versions: ...
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1 answer
59 views

URDF robot model not loading correctly in Gazebo

Hello, I tried to learn ROS2 Galactic and Navigation2 stack use through this repository: https://github.com/SteveMacenski/nav2_rosdevday_2021 Especially package ...
ljaniec's user avatar
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1 vote
1 answer
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How do you model a physical robot (diff drive) in python?

I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected. ...
ChrisM's user avatar
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Air Resistance Drag Force Calculation For Quadcopter

Hello there. Hope you are all doing well. I have created a dynamic quadcopter model on Simulink and designed a controller for it. So far, everything is going well. However, since I am going to be ...
kucar's user avatar
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