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How can you start gazebo with a non-0 simulated clock time?

Generally speaking, best practice would be to set the use_sim_time parameter in any ROS nodes that rely on timing in the simulation. Making sure everything is ...
shonigmann's user avatar
1 vote

Closing everything while using ExecuteProcess in Gazebo

Figured out. It works like that: ...
Steve Brown's user avatar
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How to dynamically set a topic publication for a model sensor?

The solution I found to fix my pb is to remove the topic tag from the SDF file. This makes gazebo generates topics named /world/{{ WORLD_NAME }}/model/{{ drone_name }}/link/lidar_link/sensor/gpu_lidar/...
SebL's user avatar
  • 17
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diff_drive changes the wheel's parent link

You should change robot_base_frame to your actual "base_link" - since your robot has no "base_footprint": ...
Mike Ferguson's user avatar
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Joint Position Controller Plugin doesn't subscribe to any topics

This is a known issue, fixed by this PR. So this will be fixed in the upcoming Harmonic release, as well as in Garden (and I assume also Fortress), when updated packages are released. If you can't ...
JRTG's user avatar
  • 517
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Gazebo ROS2 how to set Entity State when calling Set Model State via Node client

I managed to figure it out so I figured I'd post the solution in case anyone else encounters this. You need to assign the SetEntityState.Request() and then assign the ._state as your EntityState. I.e. ...
jono's user avatar
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1 vote
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gazebo garden, how to set background colour

This is one of the strange (undocumented?) things of Gazebo Sim: there is an element <background> in the <scene> ...
JRTG's user avatar
  • 517
1 vote

How to set up odometry for a custom robot?

Typically, the odometry would be done by modeling where the center of the robot body is based on each leg movement and the forward kinematics. You may need to add some smoothing to this odometry ...
Mike Ferguson's user avatar
1 vote

How to dynamically set a topic publication for a model sensor?

What you're describing here can be accomplished with topic remapping. You can find documentation on it here, and another question about this topic here. The basic concept behind topic remapping is to ...
cst0's user avatar
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How can i open wind gazebo 7

The Gazebo Wind Plugin is not what will allow gliding. It will allow you to provide a constant wind field in the world. The plugin that you want to enable gliding is the LiftDrag Plugin You can see it ...
Tully's user avatar
  • 24.5k
2 votes

How does Gazebo's physics engine simulate flight of a drone or an UAV?

You haven't specified whether you're talking about Gazebo Classic or new Gazebo. So I'll answer for both. Gazebo Classic: The core of the simulator doesn't support multicopters. There is a 3rd-party ...
Martin Pecka's user avatar
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Basic example project of a gripper holding an object in Gazebo

I believe the current state-of-the-art attaches the object to the gripper via Gazebo when the object is in proximity, so the ideal solution that I am looking for does not seem to exist. I will use the ...
geko's user avatar
  • 13
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Rviz Amcl spreading over time when stayin still

I suspect the problem is that your launch files rely on the obsolete tf_prefix feature. This feature was deprecated long ago, and I believe it is not reliably ...
Mike973's user avatar
  • 363
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How to simulate in Gazebo Moveit2 planning executing

This would involve editing your launch file to spawn the entity in Gazebo. There are multiple ways of doing this, but the simplest is to use the robot_description ...
ssarkar's user avatar
  • 166
1 vote

class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist

The spawner normally waits for the controller_manager to be available. But you can increase the timeout if necessary ...
Christoph Froehlich's user avatar
1 vote

class gazebo_ros2_control/GazeboSystem with base class type hardware_interface::SystemInterface does not exist

Thanks for help and your answers. I almost solve the problems. In my launch file I run ros2_control_node - it was my firs mistake. I assume it was in conflict with gazebo_ros2_control, which I guess ...
Kirill Partala's user avatar
1 vote
Accepted

Can't find Apply Force Torque plugin in gazebo garden

That functionality was only very recently merged, so probably the packages haven't been updated yet. If you can't wait for the updated packages, you can compile Gazebo from source. This is not ...
JRTG's user avatar
  • 517
0 votes

osrf/ros docker images don't contain Gazebo packages

The variants for ROS 2 are defined in REP 2001 - desktop_full: extends: [desktop] packages: [perception, simulation, ros_ign_gazebo_demos] I think that ...
Tully's user avatar
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0 votes
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Which controller from `ros2_control` is appropriate for firmly grabbing a box with a 1-DOF gripper in Gazebo Classic?

Welcome to RSE. So you want to simulate a gripper interacting with objects in Gazebo Classic? Don't use position or velocity interfaces. In my experience, that just doesn't work. You have to use an ...
Christoph Froehlich's user avatar
1 vote
Accepted

ros2_control state interfaces not showing up

I don't see any obvious error in your configuration. I'd suggest to deactivate your controllers to reduce the console output first. Are there any hints from gazebo_ros2_control in the console output ...
Christoph Froehlich's user avatar
1 vote

robot does not spawn in ros2

The robot_state_publisher node is missing in the launch file. The spawn_entity.py node is waiting for a ...
Gaurav Gupta's user avatar
0 votes

Gazebo Garden: change noise characteristics of IMU sensor

The noise characteristics can be configured through the SDF. Currently the following characteristics are supported: "none" (no noise) "gaussian" (draw noise values independently ...
Bi0T1N's user avatar
  • 305
0 votes
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Gazebo plugin location and documentation

They are in the Gazebo Sim github repository: System plugins can be found here, Gui plugins are here, Example worlds using these plugins are here. Documentation of each plugin is written in the ...
JRTG's user avatar
  • 517
0 votes

Gazebo Ignition how to bridge SerializedStepMap

Looks like I managed to solve the issue with @Bi0T1N help. To anyone interested in my setup: I have .sdf file with my world (walls and robot) I'm running Gazebo simulation Gazebo publishes some ...
DR4NKR1D3R's user avatar
1 vote
Accepted

Gazebo Ignition how to bridge SerializedStepMap

The JointStatePublisher plugin publishes a gz.msgs.Model (might be the SerializedStepMap on ...
Bi0T1N's user avatar
  • 305
0 votes
Accepted

Custom Protobuf messages for Gazebo Sim, in separate package

I was pointed to the SubT Competition repository, which comes close but uses catkin. But based on that I managed to get to a working solution. I made a fully ...
JRTG's user avatar
  • 517
0 votes
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{spawn_model-5} process has died

It looks like your URDF is not correctly formatted. If it is a small file, you can go through it physically, or if you are using XACRO to compose your final URDF instead, you can do a test-run to know ...
ssarkar's user avatar
  • 166

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