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how to mark the prescribed trajectory in gazebo simulation ?

asked 2012-01-23 12:09:17 -0500

maruchi gravatar image

updated 2014-01-28 17:11:11 -0500

ngrennan gravatar image

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 -0500

updated 2012-01-26 23:41:05 -0500

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 -0500

maruchi gravatar image

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 gravatar image Stefan Kohlbrecher  ( 2012-03-20 21:22:59 -0500 )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 gravatar image maruchi  ( 2012-03-22 09:10:53 -0500 )edit

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

maruchi gravatar image maruchi  ( 2012-03-22 09:15:19 -0500 )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 gravatar image Stefan Kohlbrecher  ( 2012-03-24 14:30:08 -0500 )edit

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Asked: 2012-01-23 12:09:17 -0500

Seen: 2,142 times

Last updated: Mar 20 '12