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I'm trying to generate random boxes in a world file for Gazebo simulator. I know how to create a model sdf, and how to include it from the world file.
Now I want to create different sizes of boxes in the world file using xacro and width/height parameters.
I can't get it work. Please help :)
I think it would be right in your case to use <population> tag. Pls, look at this tutorial . There exist random distribution of positions. Also, you can fix a size, but the size will be common size of N models, which you point in <model_count> tag.
"I'd like to be able to pass the "size" as a parameter to the included object" ---- In case, you want to put models with different size, I guess <population> tag will be not appropriate for that ..
Thanks for that. What if i have a different situation: I have a list of predetermined "size"s and "pose"s, and I want to generate world file includes them. I want the file to be as clean as possible, so I want to use single model file and include it many times and only specify size/pose for each?
You can use <pose> tag inside of <include>. I never note the <size> tag in <include>. Look at this SDF specification . You can find all documentation about a tag and be sure what to use inside one..
Hi, With the help I got, I was able to do the following:
I create the xacro file for the object:
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="box_obstacle">
<xacro:arg name="row" default="0"/>
<xacro:arg name="col" default="0"/>
<xacro:arg name="width" default="1"/>
<xacro:arg name="height" default="1"/>
<link name="obstacle" type="fixed">
<inertial>
<origin xyz="$(arg row) $(arg col) 0.5" />
<mass value="1.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<origin xyz="$(arg row) $(arg col) 0.5"/>
<geometry>
<box size="$(arg width) $(arg height) 1" />
</geometry>
</visual>
<collision>
<origin xyz="$(arg row) $(arg col) 0.5"/>
<geometry>
<box size="$(arg width) $(arg height) 1" />
</geometry>
</collision>
</link>
<gazebo reference="obstacle">
<static>true</static>
<material>Gazebo/Black</material>
</gazebo>
</robot>
and my launch file looks like this:
<launch>
<arg name="world" default="$(find my_package)/worlds/empty.world"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
</include>
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=6.5 col:=4.0 width:=3 height:=6" name="obstacle_0" />
<node args="-urdf -param obstacle_0 -model obstacle_0" name="spawn_obstacle_0" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=4.5 col:=4.0 width:=1 height:=2" name="obstacle_1" />
<node args="-urdf -param obstacle_1 -model obstacle_1" name="spawn_obstacle_1" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=-4.5 col:=-9.0 width:=9 height:=2" name="obstacle_2" />
<node args="-urdf -param obstacle_2 -model obstacle_2" name="spawn_obstacle_2" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
</launch>
This works fine with few "obstacles", but when I try about 10 (instead of 3 here) the simulator doing weired things (I'm trying to attach images but >5 points are needed :()
<launch>
<arg name="world" default="$(find my_package)/worlds/empty.world"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world)"/>
</include>
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=6.5 col:=4.0 width:=3 height:=6" name="obstacle_0" />
<node args="-urdf -param obstacle_0 -model obstacle_0" name="spawn_obstacle_0" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=4.5 col:=4.0 width:=1 height:=2" name="obstacle_1" />
<node args="-urdf -param obstacle_1 -model obstacle_1" name="spawn_obstacle_1" output="screen" pkg="gazebo_ros" respawn="false" type="spawn_model" />
<param command="$(find xacro)/xacro.py $(find my_package)/objects/obstacle.urdf.xacro row:=-4.5 col:=-9.0 width:=9 height:=2" name="obstacle_2 ...Asked: 2016-04-03 08:38:56 -0500
Seen: 3,638 times
Last updated: Apr 15 '16
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Do you want to place models randomly? Or Do you want to place models with different sizes in world? What should be randomly size, position or both?
Hi, tnx for responding. Right now, my world file using multiple times <include> tag to include my object model (in the model the size is fixed to 1x1 and the position isn't determined) and adds <pose> tag for each. I'd like to be able to pass the "size" as a parameter to the included object.