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gazebo simulation

asked 2012-12-13 22:42:36 -0600

camilla gravatar image

updated 2012-12-14 01:24:11 -0600

I want to simulate the navigation of a pioneer p3dx in Gazebo.

I can add the robot with:

opt/ros/electric/stacks/p2os/p2os_urdf/launch$ roslaunch pioneer3dx.gazebo.launch

I can control it with the keyboard with:

roslaunch p2os_launch teleop_keyboard.launch

But I'm not able to add the world to the simulation, because when I call:

opt/ros/electric/stacks/simulator_gazebo/gazebo_worlds/launch$ roslaunch office_world.launch

the robot disappear.
Any suggestion?

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3 Answers

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answered 2012-12-16 22:50:14 -0600

camilla gravatar image

I solved modifing the file pioneer3dx.gazebo.launch

I changed the line:

<include file="$(find gazebo_worlds)/launch/empty_world.launch"/>

with the line:

<include file="$(find gazebo_worlds)/launch/office_world.launch"/>

And now I can move the pioneer in the simulated office world

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You should not change files that are installed by system packages since they will be overwritten on updates. Instead, copy the launch file into your own ROS package where you can modify it safely.

Lorenz gravatar image Lorenz  ( 2012-12-16 22:55:51 -0600 )edit

Thank you Lorenz, I didn't specify it but I usually copy the files in my workspace and then change them.

camilla gravatar image camilla  ( 2012-12-17 01:24:23 -0600 )edit

answered 2012-12-14 04:11:14 -0600

davinci gravatar image

First start the office_world and then the pioneer.

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Hi Davinci!I tried to do what you suggested, but it doesn't work. When I launch the pioneer the office_world disappear and I get this message:[gazebo-1] process has died [pid 3974, exit code -15]. log files: /home/camilla/.ros/log/6d03e15c-482f-11e2-9b01-000fb0a0b12e/gazebo-1*.log

camilla gravatar image camilla  ( 2012-12-16 21:55:56 -0600 )edit

answered 2012-12-17 00:08:32 -0600

Erwan R. gravatar image


What probably happen is that when you spawn the world, there is a physical interaction between the environment and the robot (i.e. the robot is at (0,0,0) and a wall also). This produces a very strong force that throw the robot away (usually in the sky).

Is the robot still appearing in the models' list (left) ? If yes, try spawning your objects in a way the robot and the environment are not at the same place (using -x -y -z arguments).

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Asked: 2012-12-13 22:42:36 -0600

Seen: 942 times

Last updated: Dec 17 '12