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Best Gazebo + ROS versions for installing on Ubuntu 14.04 on vmware [closed]

asked 2016-05-12 03:03:35 -0600

Masoud gravatar image

Hello people

For accomplishing my master thesis I need to simulate our humanoid robot in Gazebo. I prefer to control the robot through MATLAB using ROS nodes. I installed ubuntu 14.04 on vmware. Now I'm a little confused about choosing the right compatible versions of Gazebo and ROS. Would you guys please help me decide..

Please consider following details in your suggestion:

1) The robot should have IMU (Inertial Measurement Unit), Encoders and 6 axis Force/Torque sensor at ankle or equivalently 4 contact force sensor at each foot (2 contact force sensor for each toe and heel)

2) I need a version of Gazebo that supports all 4 available Dynamic engines (e.g. ODE, DART, Bullet and SIMBODY) to examine the accuracy of each one for contact forces based on solving LCP. Maybe gazebo 3+ as I know.

3) I prefer a version of Gazebo that supports adding noise without having to write sensor plugins.

4) I need to model two closed chain using ball screw joints for actuating knee joint. So I have to use SDF instead of URDF for modeling.

5) I want to have control over simulation step time and controller update rate when using MATLAB to control the robot.

after reading through different tutorials about gazebo and ROS, I realized that maybe I have to install ROS jade but I'm a little worried about this note that "currently in ROS Jade there is no ros-jade-gazebo-ros-control package released" as mentioned here.

I looked over the net for an image of preconfigured gazebo and ros jade, but I couldn't find any except the one that mathworks has provided here which is based on Kubuntu and Gazebo 1.9.6 and ros hydro. I'll upload my vmware images for others after installing and configuring the most stable and updated versions of gazebo and ros.

Considering my application do you recommend using unsupported version of gazebo and ros using catkin workspace or not?

Regards

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Closed for the following reason the question is answered, right answer was accepted by Masoud
close date 2016-09-25 05:51:53.515210

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Did your approach work?

Thanks!

vkee gravatar imagevkee ( 2017-01-06 12:09:00 -0600 )edit

Using Gazebo of the higher version than 2.x on Indigo is an FAQ. See Migration Note for ROS Indigo.

130s gravatar image130s ( 2017-01-09 08:24:40 -0600 )edit

Melodic - 9.x version; Lunar - 7.x version; Kinetic - 7.x version; Indigo - 2.x version (Ubuntu 14.04 ) ; I cross this problem again. http://gazebosim.org/tutorials?tut=ro...

taiping.z gravatar imagetaiping.z ( 2018-09-13 02:47:15 -0600 )edit

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answered 2016-05-12 03:35:02 -0600

lfr gravatar image

updated 2016-05-12 03:42:16 -0600

Hello !

If you use Ubuntu 14.04, you need at least ROS indigo (the most stable among the latest versions). Moreover, I think that indigo is using gazebo 2.x series. You can watch this website http://gazebosim.org/tutorials?tut=ro... for the installation of gazebo (see indigo sections).

I hope that answers your question

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Thank you for your quick reply. The problem is that ros indigo comes with gazebo 2.x and that does not support 4 mentioned dynamic engines. On the other hand ros jade suffers from lack of ros-jade-gazebo-ros-control package.

Masoud gravatar imageMasoud ( 2016-05-12 04:42:38 -0600 )edit

I want to install ros jade + gazebo 5. Would you tell me what features I am missing by not having ros-jade-gazebo-ros-control package? Does it affect any part of my application explained in first post?

Masoud gravatar imageMasoud ( 2016-05-12 05:09:11 -0600 )edit

Oh sorry, I didn't pay enough attention. I saw on this website http://gazebosim.org/tutorials?tut=ro... how to use gazebo 5.x series with ros indigo. I have not tried but I hope it will bring the solution to your problem

lfr gravatar imagelfr ( 2016-05-12 05:12:57 -0600 )edit

I think that ros-jade-gazebo-ros-control package is not yet released

lfr gravatar imagelfr ( 2016-05-12 05:16:27 -0600 )edit

I found two github repositories which provide a first implemention of ros-jade-gazebo-ros-control package but I don't know if it is recommended to use now. Find the links below:

https://aur.archlinux.org/packages/ro...

https://github.com/ros-controls/gazeb...

lfr gravatar imagelfr ( 2016-05-12 05:21:36 -0600 )edit
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answered 2016-05-12 06:34:03 -0600

Masoud gravatar image

updated 2016-05-12 06:38:54 -0600

Ok. Lets assume that I want install ROS indigo + Gazebo 7.1 as described here ( http://gazebosim.org/tutorials?tut=ro... ). After reading the page that you provide me, I think that the installation procedure is something like this. Am I right?

Installation Procedure: 1) Installing ROS indigo (ros-indigo-desktop-full) following the instructions presented here ( http://wiki.ros.org/indigo/Installati... ) (This will install gazebo 2.x on my machine)

2) Installing Gazebo7 by writing these codes in terminal (from http://gazebosim.org/tutorials?tut=in... )

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gaz... lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget http://packages.osrfoundation.org/gaz... -O - | sudo apt-key add -

sudo apt-get update sudo apt-get install gazebo7 sudo apt-get install libgazebo7-dev

3) Checking stand alone gazebo7 running gazebo in terminal

4) Adding the osrfoundation repository to my sources list.

5) Installing ros-indigo-gazebo7-ros-pkgs from the osrfoundation repository, which will install the gazebo7 package.

6) Use catkin workspaces to compile the rest of the software used from source.

I think that step 5 and 2 overlap each other. does not it? Do you confirm this procedure?

Regards

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In my opinion, it seems good. Just make sure that the step 5 doesn't overwrite the step 2.

Honestly, I don't know because I never tried to do this but I hope it will works.

lfr gravatar imagelfr ( 2016-05-12 07:20:01 -0600 )edit

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Asked: 2016-05-12 03:03:35 -0600

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Last updated: May 12 '16