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Gazebo and Clearpath Husky A200

asked 2012-08-25 06:28:01 -0500

David Kaczynski gravatar image

updated 2014-01-28 17:13:27 -0500

ngrennan gravatar image

I found this tutorial on setting up a Husky A200 simulation environment with Gazebo: http://siddhantahuja.wordpress.com/2012/02/24/ros-gazeborviz-simulation-for-four-wheeled-differential-drive-robot/

Unfortunately, we are not using the same versions of Ubuntu or ROS. I am using Ubuntu 12.04 and Fuerte, and he is using 11.04 and Electric.

I am getting the following errors when I try to execute rosmake on the huskyA200_gazebo and huskyA200_teleop stacks, respectively:


- huskyA200_gazebo:

CMakeFiles/huskyA200_base_controller.dir/src/huskyA200_base_controller.o
  In file included from /home/developer/fuerte_workspace/wavelab-multi-robot-mapping-stack-read-only/huskyA200_gazebo/src/huskyA200_base_controller.cpp:32:0:
  /home/developer/fuerte_workspace/wavelab-multi-robot-mapping-stack-read-only/huskyA200_gazebo/include/huskyA200_base_controller/huskyA200_base_controller.h:31:27: fatal error: gazebo/Param.hh: No such file or directory
  compilation terminated.

- huskyA200_teleop:

  Linking CXX executable ../bin/huskyA200_teleop_keyboard
    /usr/bin/ld: CMakeFiles/huskyA200_teleop_keyboard.dir/src/huskyA200_teleop_keyboard.o: undefined reference to symbol 'vtable for boost::detail::thread_data_base'
    /usr/bin/ld: note: 'vtable for boost::detail::thread_data_base' is defined in DSO /usr/lib/libboost_thread.so.1.46.1 so try adding it to the linker command line
    /usr/lib/libboost_thread.so.1.46.1: could not read symbols: Invalid operation
    collect2: ld returned 1 exit status

There is much more to the output of the rosmake commands, which I can post if needed, but I did not post the full outputs for readability's sake.

Does anyone know:

  1. of any other stacks available to simulate Husky A200 with gazebo, or
  2. how to alleviate the errors that I am encountering with these particular stacks?

Thank you.

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answered 2012-08-26 17:46:04 -0500

Ryan gravatar image

updated 2012-08-29 11:45:04 -0500

If you're going to get it from source, I would use our official code (which Sid's work was merged into): https://github.com/clearpathrobotics/clearpath_husky

It doesn't support Gazebo 1.0 quite yet; I'm actually working through the conversions right now.

EDIT: Gazebo 1.0 looks good and has been released to Github in the "husky_description" package. Pre-Fuerte launchfiles, xacros, etc are labeled "_prefuerte". Pull requests welcome! :)

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OK, it supports v1.0 now. Starting our test & release process...

Ryan gravatar image Ryan  ( 2012-08-27 07:22:00 -0500 )edit

@Ryan nice, thanks. Any feedback on conversion process is appreciated.

hsu gravatar image hsu  ( 2012-08-28 13:17:47 -0500 )edit

Wow, that was fast. Thanks for the update, can't wait to give it a shot

David Kaczynski gravatar image David Kaczynski  ( 2012-08-29 11:56:16 -0500 )edit

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Asked: 2012-08-25 06:28:01 -0500

Seen: 820 times

Last updated: Aug 29 '12