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Doubts on Gazebo-Ros combined framework

asked 2013-10-01 05:17:20 -0500

RB gravatar image

updated 2013-11-07 01:50:34 -0500

Is there any robot with which 2D navigation stack is already setup in case of Gazebo And we can send robot to a particular location through rviz or simple_navigation_goals

Is there any socket communication involved between Gazebo and ROS

How much difficulty we have to face to create a maze environment?

Many thanks.

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answered 2013-11-09 19:44:27 -0500

RB gravatar image

I found some robots like Robotino and TurtleBot ( But someone says that they can't be properly launched in Gazebo. I don't know it's truthness. Again, for Robotino, lots of packages are mentioned here, but how to install it on ubuntu 10.04 (ROS fuerte is present)?

Socket communication is present in Gazebo-Ros.

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I've launch TurtleBot in Gazebo 1.9 under hydro and ran with move_base. But odometry does not use the joint PID controllers. Also because there is no single URDF I could not find the joints , it may not use cmd velocity for 2W dead reckoning. I think Stage may be better for a maze.

rnunziata gravatar image rnunziata  ( 2013-11-09 20:17:44 -0500 )edit

Nice to know that you have achieved high level navigation through TurtleBot. Does rviz window helps us to navigate automatically? Since I am new to Gazebo, I don't know about joint PID controllers. Does the problems you have mentioned create sub optimal behavior during navigation. Again in Gazebo I find something [here](, don't know it's usefulness in maze creation. Thanks buddy.

RB gravatar image RB  ( 2013-11-09 23:40:09 -0500 )edit

Rviz lets you set Pose and Goal. I think you should be able to use a teleop to navigate if you override the cmd_vel topics. The ros gazebo PID controllers are suppose to be realistic motor simulators using hardware interface. But I have had little success with this so far.

rnunziata gravatar image rnunziata  ( 2013-11-10 01:55:04 -0500 )edit

Using UsarsimROS, I am able to achieve teleop for P3AT, but now I want to switch it to Gazebo, because many people said that turtlebot and PR2 already have 2D stack properly tuned without even touching single line of code. But right now I can't decide whether TurtleBot and PR2 really achieves high level navigation or not?

RB gravatar image RB  ( 2013-11-10 02:08:10 -0500 )edit

Which one of the tutorial s you have followed; first one is ( and second one is ( .

RB gravatar image RB  ( 2013-11-10 03:11:47 -0500 )edit

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Asked: 2013-10-01 05:17:20 -0500

Seen: 187 times

Last updated: Nov 09 '13