Ask Your Question
0

UWSim multi robots with sensors

asked 2015-03-22 12:31:57 -0600

raluse gravatar image

Hi,

I am having issues setting up a scene with 2 robots, each equipped with an IMU. My scene XML looks like:

...
<vehicle>
    <name>AZOR</name>
    <file>data/scenes/g500ARM5.urdf</file>
    <position>
      <x> 5</x>
      <y> 7 </y>
      <z> -3 </z>
    </position>
    <orientation>
      <r>0</r>
      <p>0 </p>
      <y>0 </y>
    </orientation>
    <imu>
      <name>IMU_AZOR</name>
      <relativeTo>base_link</relativeTo>
      <position>
        <x>0</x>
        <y>0</y>
        <z>0</z>
      </position>  
      <orientation>
        <r>0</r>
        <p>0</p>
        <y>0</y>
      </orientation>
      <std>0.00000001</std>
    </imu>
  </vehicle>

  <vehicle>
    <name>TOM</name>
    <file>data/scenes/g500ARM5.urdf</file>
    <position>
      <x> 10</x>
      <y> 8 </y>
      <z> -3 </z>
    </position>
    <orientation>
      <r>0</r>
      <p>0 </p>
      <y>0 </y>
    </orientation>
    <imu>
      <name>IMU_TOM</name>
      <relativeTo>base_link</relativeTo>
      <position>
        <x>0</x>
        <y>0</y>
        <z>0</z>
      </position>  
      <orientation>
        <r>0</r>
        <p>0</p>
        <y>0</y>
      </orientation>
      <std>0.00000001</std>
    </imu>
  </vehicle>

  <rosInterfaces>
    <ROSOdomToPAT>
      <topic> /dataNavigator_AZOR </topic>
      <vehicleName> AZOR </vehicleName>
    </ROSOdomToPAT>
    <ROSOdomToPAT>
      <topic> /dataNavigator_TOM </topic>
      <vehicleName> TOM </vehicleName>
    </ROSOdomToPAT>
    <PATToROSOdom>
      <topic> /uwsim/odom_AZOR </topic>
      <vehicleName> AZOR </vehicleName>
    </PATToROSOdom>
    <PATToROSOdom>
      <topic> /uwsim/odom_TOM </topic>
      <vehicleName> TOM </vehicleName>
    </PATToROSOdom>
    <WorldToROSTF>
      <rootName> world </rootName>
      <enableObjects> 0 </enableObjects>
      <rate>10</rate>
    </WorldToROSTF>
    <ImuToROSImu>
      <name>IMU_AZOR</name>
      <topic>g500/IMU_AZOR</topic>
      <rate>20</rate>
    </ImuToROSImu>
    <ImuToROSImu>
      <name>IMU_TOM</name>
      <topic>g500/IMU_TOM</topic>
      <rate>20</rate>
    </ImuToROSImu>
  </rosInterfaces>

When I try to run this scene, UWSim gives me Segmentation Fault. However, If I remove the second IMU sensor, the simulation is working OK. How can I have two vehicles with 2 IMU sensors? Thanks

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2015-03-26 05:34:27 -0600

raluse gravatar image

The problem comes from the WorldToROSTF element:

<WorldToROSTF>
  <rootName> world </rootName>
  <enableObjects> 0 </enableObjects>
  <rate>10</rate>
</WorldToROSTF>

After this is removed, the simulation works fine.

edit flag offensive delete link more

Comments

True, there was a bug on TF publishing for some sensors. I've just updated git main branch, thanks for the catch and sorry for the late response!.

Javier Perez gravatar imageJavier Perez ( 2015-03-31 09:58:31 -0600 )edit

Do you know if your changes have made it to version 1.4? Im sitting here with the exact same issue.

ROS: Jade UWSim 1.4 Ubuntu 14.04.4

Ragnar Moberg gravatar imageRagnar Moberg ( 2016-02-29 06:46:33 -0600 )edit

Actually, it was fixed, but at some point reintroduced, Should be fixed again for indigo source, I'll merge changes to jade source right now.

Javier Perez gravatar imageJavier Perez ( 2016-03-01 04:51:43 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2015-03-22 12:31:57 -0600

Seen: 227 times

Last updated: Mar 26 '15