Andrei Haidu's profile - activity

I get an error when launching the razer hydra publisher. I am using indigo-devel branch. Here is the output from roslaunch razer_hydra hydra.launch:

Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.100.81:39343/

SUMMARY
========

PARAMETERS
 * /razer_hydra_driver/corner_hz: 3.0
 * /razer_hydra_driver/device: /dev/hydra
 * /razer_hydra_driver/grab_x: 0.12
 * /razer_hydra_driver/grab_y: 0.0
 * /razer_hydra_driver/grab_z: 0.0
 * /razer_hydra_driver/pivot_x: 0.04
 * /razer_hydra_driver/pivot_y: 0.0
 * /razer_hydra_driver/pivot_z: 0.0
 * /razer_hydra_driver/polling_ms: 10
 * /razer_hydra_driver/publish_tf: False
 * /razer_hydra_driver/use_grab_frame: True
 * /rosdistro: indigo
 * /rosversion: 1.11.8

NODES
  /
    razer_hydra_driver (razer_hydra/hydra_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[razer_hydra_driver-1]: started with pid [12502]
[ INFO] [1408542580.469668184]: Using filter corner frequency of 3.0 Hz
[ INFO] [1408542580.474835312]: Setting pivot offset [0.040, 0.000, 0.000]
[ INFO] [1408542580.474863200]: Setting grab offset [0.120, 0.000, 0.000]
[ INFO] [1408542580.474879655]: Sending messages using the 'grab' frame.
[ INFO] [1408542580.476446018]: opening hydra on /dev/hydra
[ERROR] [1408542580.476481953]: couldn't open hidraw device
[FATAL] [1408542580.476504570]: couldn't open hydra on /dev/hydra
[razer_hydra_driver-1] process has died [pid 12502, exit code 1, cmd /home/haidu/sandbox/catkin_workspace/devel/lib/razer_hydra/hydra_node __name:=razer_hydra_driver __log:=/home/haidu/.ros/log/fb8cb616-286a-11e4-b7fa-e03f4979f6f0/razer_hydra_driver-1.log].
log file: /home/haidu/.ros/log/fb8cb616-286a-11e4-b7fa-e03f4979f6f0/razer_hydra_driver-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Hi,

ROS Electric comes with an old version of Gazebo, which uses controllers not plugins.

Some reading material: this this.

Although maybe you can install from source a newer version of Gazebo (>1.0) which is better documented and easier to use. I'm not sure though if it will work with electric.

Cheers,

Hi,

When trying to spawn a sdf model in Gazebo 1.2, I get the following errors:

Error [SystemPaths.cc:281] Unknown URI prefix[models/static_sphere.sdf]

Error [ModelDatabase.cc:219] Unable to download model[models/static_sphere.sdf]

Error [ModelDatabase.cc:391] Invalid model manifest file[/manifest.xml]

Error [World.cc:1201] Unable to read sdf file.

I am running Ubuntu 12.04 with ROS groovy, Gazebo 1.2.5.

I set up the variables with: source /path/gazebo-1.2/setup.sh

The paths in the manifest.xml file look like this:

gazebo gazebo_media_path="${prefix}"

gazebo plugin_path="${prefix}/lib"

Do I have to set up other path variables in the ROS package?

Thanks, Andrei

after rosmake I get the following error:
Linking CXX shared library libgazebo_sdf_interface.so /usr/bin/ld: cannot find -l/usr/lib/libboost_thread-mt.so collect2: ld returned 1 exit status And I have this library in usr/lib

Hi,

I am trying to change the contact joint parameters of a model / link after it is loaded in Gazebo, from a plugin.

The idea is that I am spawning a model with a lot of sphere links, which act like a fluid. After a while I want to change the contact joint parameters values so that the links act like a rigid body.

The contact joint parameters are something like this at the beginning:

<contact>
  <ode soft_cfm='100.0' soft_erp='100.0' kp='1000000.0' kd='1000000.0' max_vel='100.0' min_depth='0.001'/>
</contact>

So, is there a way to modify them from a plugin? (I have the plugin made, I can access everything in the world). I know that these joints are created only when contacts occur between links. That is why I suppose I cannot access them with something like:

this->my_model->getJoint(..);

Any suggestions?

I am running Gazebo with ROS Fuerte.

Thanks

Hi,

How about creating a plugin, where you can access the joints and apply forces on them? Here is a plugin example.

One possibility for getting the joint and applying a force on it would be something like:

physics::ModelPtr my_model = _parent;

physics::JointPtr my_joint = my_model->GetJoint("name_of_joint");

my_joint->SetForce(0, 3.0);

Cheers, Andrei

Hi,

I noticed after installing ROS Groovy that it still comes with the old Fuerte version of Gazebo 1.0.2 ( is this normal? ) which is buggy.

Is there any tutorial how to install from source a new stable version of Gazebo in ROS Groovy?

Thanks, Andrei

Hi,

<export> <gazebo gazebo_media_path="${prefix}"/> <gazebo plugin_path="${prefix}/lib"/> </export>

I don't think it has anything to do with the "spatula_plugin" I ran it without it and it still doesn't work only when I make the object bigger. As for the robotic arm plugin which detects the collision, again if I come in contact with a table which is bigger it detects it (or the over sized spatula)

I don't think it has anything to do with the "spatula_plugin" I ran it without it and it still doesn't work only when I make the object bigger. The contact plugin which is in the robotic arm works fine if I come in contact with larger objects (table or the over sized spatula)

Hi,

here are some examples of includes from my plugins:

#include "gazebo.hh"
#include "physics/physics.h"
#include "common/Events.hh"
#include "common/Plugin.hh"
#include "common/Time.hh"
#include "common/common.h"

As for the error maybe try putting ‘GZ_REGISTER_PLUGIN’ before the last '}' (outside the class, inside the namespace), that is how I have them declared.

Here are tutorials for the new gazebo.

Cheers

Hi,

I have encountered a weird behavior of the new gazebo. I created a plugin which detects contacts of a robotic hand. It works fine, until I touch small objects. And when I spawn the same model in bigger size, it detects it.

The models is the following (when I make the box size bigger >1 then it detects the contacts):

<gazebo version='1.0'>
  <model name='spatula' static='0'>
    <origin pose='0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000'/>

    <link name='spatula_handle' gravity='1' self_collide='0' kinematic='0'>
      <origin pose='0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000'/>
      <inertial mass='0.2' density='1.000000'>
        <origin pose='0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000'/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
      </inertial>
      <collision name='handle_bottom_geom'>
        <origin pose='0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000'/>
        <geometry>
          <box size='0.070000 0.070000 0.200000'/>
        </geometry>
        <surface>
          <friction>
            <ode mu='-1.000000' mu2='-1.000000' fdir1='0.000000 0.000000 0.000000' slip1='0.000000' slip2='0.000000'/>
          </friction>
          <bounce restitution_coefficient='0.000000' threshold='100000.000000'/>
          <contact>
            <ode soft_cfm='0.000000' soft_erp='0.200000' kp='1000000000000.000000' kd='1.000000' max_vel='100.000000' min_depth='0.001000'/>
          </contact>
        </surface>
      </collision>
      <visual name='handle_bottom_geom_visual' cast_shadows='1'>
        <origin pose='0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000'/>
        <geometry>
          <box size='0.070000 0.070000 0.200000'/>
        </geometry>
        <material script='Gazebo/Grey'/>
      </visual>
    </link>

  <plugin name="spatula_plugin" filename="libspatula_plugin.so"/>
  </model>
</gazebo>

Hi there,

I am creating dynamically a Hinge Joint between two bodies via a controller in Gazebo (with ROS electric). The bodies belong to the same model. The Joint gets created, its upper and lower angle limit work fine, the problem is that I cannot set the rotation axis for it.

The code looks something like this:

Vector3 anchorPos3,rotAxis3;

Joint *j;

j = World::Instance()->GetPhysicsEngine()->CreateJoint(gazebo::Joint::HINGE);

j->body1 = dynamic_cast<body*>(this->sphereBodies[body1_indice]);

j->body2 = dynamic_cast<body*>(this->sphereBodies[body2_indice]);

j->anchorBody = j->body1;

j->SetAttribute(gazebo::Joint::HI_STOP,0,0.5);

j->SetAttribute(gazebo::Joint::LO_STOP,0,-0.5);

//next two functions don't work as expected, after I call j->GetAxis(0) and j->GetAnchor(0) , both positions are 0, 0, 0;

j->SetAxis(0, rotAxis3); // NOT WORKING

j->anchorPos = anchorPos3; // NOT WORKING

j->Attach(j->body1, j->body2);

Thanks, Andrei

Hi,

I am trying to control a DLR HIT hand in Gazebo. The hand is loaded in the simulator, and I can also control it. But it is vibrating hard. I tried changing the safety_controller and the limit values in the urdf file but the vibrations increased, or if they decreased then I could barely control the hand.

limit lower="-0.261799388" upper="0.261799388" effort="100" velocity="10" safety_controller k_velocity="0.5" k_position="0.5" soft_lower_limit="${-0.261799388 + 0.1}" soft_upper_limit="${0.261799388 - 0.1}"

Does anyone know how can I calculate the values from safety_controller, and from the limit?

Thanks, Andrei