how to mark the prescribed trajectory in gazebo simulation ?

asked 2012-01-23 12:09:17 -0600

maruchi
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updated 2014-01-28 17:11:11 -0600

ngrennan
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Dear,

I was able to make my simple model follow the prescribed position trajectory (circle or infinity shape or any smooth trajectory) in gazebo simulation. One more thing I want to do to show the prescribed trajectory in the gazebo simulation so that I want to show how closely my model follows the given trajectory. What part should I modify or edit ? Do I need to see the world file or look for different world file?

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answered 2012-01-26 23:36:22 -0600

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

updated 2012-01-26 23:41:05 -0600

I'm not sure it is easily possible to paint things into gazebo. For 3D visualization purposes, there is rviz and Markers that can easily be used for this task. Having visualization outside of your simulation environment has the benefit that you can use it for simulation and for experiments with real robot systems. For this reason using the ROS visualization tools is the recommended way of doing what you describe.

If you want to record tf based trajectories, you can use the hector_trajectory_server node. This node periodically publishes the trajectory as a nav_msgs/Path, which can be visualized in rviz.

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answered 2012-03-20 09:40:21 -0600

maruchi
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Hi, Stefan,

I followed the tutorial in the above Markers, but when I do: rosmake using_markers basic_shapes

the warning message comes out as: [ rosmake ] WARNING: Skipped command line arguments: ['basic_shapes'] because they could not be resolved to a stack name or a package name.

When I do: rosrun using_markers basic_shapes

I got the following error message: [ rosmake ] WARNING: Skipped command line arguments: ['basic_shapes'] because they could not be resolved to a stack name or a package name.

Did I miss something or do something wrong?

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The "rosmake .." line indeed was wrong, I corrected it on the wiki. Can you try again using the current version? The "rosrun.." line should work in principle from looking at it. I don't have time to do the tutorial myself unfortunately.

Stefan Kohlbrecher ( 2012-03-20 21:22:59 -0600 )edit

Hi Stefan, I have a question about your hector_quadrotor: I want to implement some type of controllers ( nonlinear controllers such as dynamic inversion, adaptive, backstepping ...). What parts in your hector_quadrotor should I have to modify?

maruchi ( 2012-03-22 09:10:53 -0600 )edit

I guess I need to modify "quadrotor_simple_controller.cpp" or "quadrotor_teleop.cpp".

maruchi ( 2012-03-22 09:15:19 -0600 )edit

Yes, you can take the simple controller as a baseline and modify that. The teleop package is just for teleoperation with a gamepad, it contains no UAV control code.

Stefan Kohlbrecher ( 2012-03-24 14:30:08 -0600 )edit

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how to mark the prescribed trajectory in gazebo simulation ?

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