How to debug world file in gazebo? [closed]
My launch file:
sam@sam:~/code/ros/temp$ cat t1.launch
<launch>
<!-- start gazebo with an empty plane -->
<param name="/use_sim_time" value="true" />
<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find ias_gazebo)/worlds/ros_fallschool_day4.world" respawn="false" >
</node>
</launch>
My world file:
sam@sam:~/code/ros/temp$ cat /home/sam/code/ros/cram/ias_gazebo/worlds/ros_fallschool_day4.world
<?xml version="1.0"?>
<gazebo:world
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geo="http://willowgarage.com/xmlschema/#geo"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
<verbosity>5</verbosity>
<!-- cfm is 1e-5 for single precision -->
<!-- erp is typically .1-.8 -->
<!-- here's the global contact cfm/erp -->
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.000000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
<quickStepIters>10</quickStepIters>
<quickStepW>1.3</quickStepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
<contactSurfaceLayer>0.001</contactSurfaceLayer>
</physics:ode>
<geo:origin>
<lat>37.4270909558</lat><lon>-122.077919338</lon>
</geo:origin>
<rendering:gui>
<type>fltk</type>
<size>1024 768</size>
<pos>0 0</pos>
<frames>
<row height="100%">
<camera width="100%">
<xyz>2 0 1.5</xyz>
<rpy>0 20 180</rpy>
</camera>
</row>
</frames>
</rendering:gui>
<rendering:ogre>
<ambient>0.3 0.3 0.3 0.3</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
<gazeboPath>media</gazeboPath>
<grid>false</grid>
<maxUpdateRate>10</maxUpdateRate>
<shadowTechnique>stencilAdditive</shadowTechnique>
</rendering:ogre>
<!-- clock -->
<model:physical name="clock">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<body:box name="clock_body">
<geom:box name="clock_geom">
<mesh>default</mesh>
<size>0 0 0</size>
<visual>
<size>0 0 0</size>
<material>PR2/White</material>
<mesh>unit_box</mesh>
</visual>
</geom:box>
</body:box>
<!-- broadcast ros /time with simTime -->
<controller:gazebo_ros_time name="gazebo_ros_time" plugin="libgazebo_ros_time.so">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<interface:audio name="dummy_gazebo_ros_time_iface_should_not_be_here"/>
</controller:gazebo_ros_time>
<!-- offer ROS services to spawn and delete models -->
<controller:gazebo_ros_factory name="gazebo_ros_factory" plugin="libgazebo_ros_factory.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<interface:audio name="dummy_gazebo_ros_factory_iface_should_not_be_here"/>
</controller:gazebo_ros_factory>
</model:physical>
<!-- ground plane -->
<model:physical name="gplane">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<body:plane name="plane">
<geom:plane name="plane">
<laserRetro>2000.0</laserRetro>
<mu1>50.0</mu1>
<mu2>50.0</mu2>
<kp>1000000000.0</kp>
<kd>1.0</kd ...
Closed for the following reason
Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by
tfoote
close date 2015-06-29 02:17:16.361692
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