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Adding object/changing position in Gazebo and Rviz

asked 2020-02-10 07:38:45 -0600

Zenzu gravatar image

I am trying to add a box, with which a KUKA robot could interact (push it into the desired position). Besides being able to interact with it, I have to be able to change its position through a node. Could you point me into the right direction, what should be the right way of doing it? My ideas/attempts are:

  1. If I create a box in same urdf file as KUKA, the arm avoids the object because of the collision avoidance. I believe that if I could somehow disable this, I could push the object with arm. Will I be able to change the position of the object using tf?
  2. The second idea is to insert the object in Gazebo using the Gazebo GUI. It seems to work but I am getting an error, right after I have inserted the object:

[ERROR] [1581331637.324486823]: This robot has a joint named "joint_a1" which is not in the gazebo model.

[FATAL] [1581331637.325261818]: Could not initialize robot simulation interface

So far I have not find any impact of that error. I am able to change its position using /gazebo/set_model_state service. To visualize the object in Rviz, tf broadcaster is needed, right? I think that the actual position of the object I could get from /gazebo/get_model_state service.

3) The third idea was to create two separate robot_models (2 separate urdf files with 2 urdf_spawn nodes). But with this idea I have had no success so far.

Could you point me to the right direction? How can it be solved?

PS: for better understanding I am trying to create this environment in ROS using KUKA: https://gym.openai.com/envs/FetchPush...

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answered 2020-02-10 08:35:56 -0600

atas gravatar image

updated 2020-02-10 08:40:42 -0600

You can create a model plugin for your gazebo model, you need insert box model into the world file and specify the name of your model plugin so that you can manipulate the states/properties of this model through the plugin. Inside The plugin you can well use ros functinoalities like subscriber and publishers, this way you Can have access to topics that you will use to change the pose of model accordingly. Have look at link below to see a gazebo plugin that I wrote for my project, It’s simply moves an object randomly Between defined boundaries, https://github.com/jediofgever/random...

note; I am not sure if this is the simplisest way to handle this but I would have done it this way, hope it helps

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thank you very much. I am going to try it and later I will let you know.

Zenzu gravatar imageZenzu ( 2020-02-10 09:05:47 -0600 )edit

It seems to work, Thank you once more

Zenzu gravatar imageZenzu ( 2020-02-11 04:28:35 -0600 )edit

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Asked: 2020-02-10 07:38:45 -0600

Seen: 15 times

Last updated: Feb 10