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Problem with Gazebo [closed]

asked 2013-01-08 02:17:36 -0600

camilla gravatar image

updated 2013-01-09 21:33:54 -0600

I'm developing a node wich controls the navigation of a p3dx equipped with a laser rangefinder.
I'm simulating the navigation in Gazebo and also in rviz, to see the ranges detected by the laser.
But what the p3dx does in gazebo is different from what it does in rviz. The navigation displayed in rviz is correct, instead the one in gazebo isn't.
How is it possible?
I'm using pioneer3dx.gazebo.launch:

<launch>

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

  <include file="$(find p2os_urdf_mod)/launch/upload_pioneer3dx.xml"/>

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_pioneer" pkg="gazebo" type="spawn_model" 
    args="-z 0.051 
          -urdf 
          -param robot_description  
          -model robot_description" 
    respawn="false" output="screen" />

  <!-- Controller Manager -->
  <include file="$(find pr2_controller_manager)/controller_manager.launch" />

  <!-- load controllers -->
  <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>


</launch>

The node that I developed reads some parameters about the desired trajectory and publishes the correct linear and angular speed on the topic /cmd_vel.
I checked the odometry published by "gazebo_ros_diffdrive" controller on the topic /base_pose_ground_truth and it is coherent with what i see in rviz.
Any suggestion?

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by 130s
close date 2013-01-15 10:51:54

Comments

is it possible that the reason for this is that in Gazebo are taken into account some effects as friction, or gravity which aren't considered in rviz?

camilla gravatar imagecamilla ( 2013-01-08 23:30:14 -0600 )edit

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answered 2013-01-15 10:51:37 -0600

130s gravatar image

As announced by the develpers in Sep 2012, all gazebo related (or at least gazebo-centric) questions should be asked on new gazebo specific QA community. Thank you for your cooperation!

See also this thread.

Apologies that I close as "off-topic" although it's actually very related - there isn't more suitable label.

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Asked: 2013-01-08 02:17:36 -0600

Seen: 252 times

Last updated: Jan 15 '13