WW's profile - activity

Is there a way to adjust the max point cloud range/depth of GazeboRosDepthCamera? Thanks.

I am unable to get any success with gazebo SDF parser when spawning URDF models with ROS Fuerte. During roslaunches, I get the warning messages:

Warning [parser.cc:330] Gazebo SDF has no gazebo element

Warning [parser.cc:269] parse as sdf version 1.0 failed, trying to parse as old deprecated format

Warning [parser.cc:275] parse as old deprecated world file failed, trying old model format.

As a result, parser.cc reverts to the old deprecated methods used in ROS Electric. Is there any way to successfully use spawn_model and get the gazebo SDF parser to recognize the gazebo element? If so, then I must be improperly creating URDFs and/or gazebo plugins.

Thanks

I was able to figure this out, if anyone is curious. Changing the ray transform order in MultiRayShape.cc (gazebo) to yaw->pitch from pitch->yaw did the trick. Now my 360 degree lidar point cloud looks perfect. Without this change, the vertical component of the point cloud distance becomes inverted in the rear semi circle of the horizontal fov. Difficult to notice with small horizontal range.

Change line 116 to this: axis.Set(cos(pitchAngle.GetAsRadian()) * cos(yawAngle.GetAsRadian()), cos(pitchAngle.GetAsRadian()) * sin(yawAngle.GetAsRadian()), sin(pitchAngle.GetAsRadian()));

I'm currently using ROS Electric and have a simple gazebo model consisting of a rectangular base, 3 wheels (3 continuous joint) and a steering joint (1 revolute joint). I've set ode to run at 100hz. When I use CPU "<steptype>quick</steptype",>parallel_quick</steptype>". I've tried tweaking the CUDA batch sizes and block sizes however it seems to be worse than the default setup. I've also spawned 10 of the same vehicles and tried to test both CPU and CUDA performances. CPU wins out as well. Is there something I'm missing? I'm guessing the performance hit is in the memory transfer between GPU and CPU and CUDA is not a good fit for my setup. I'm using a Quadro FX 4800 with 192 cuda cores.

Thanks alot, WW

Hi guys,

I'm trying to use the gazebo_ros_block_laser to provide point cloud data of a -180 to 180 degree (360 degree) field of view. However visualizing using RVIZ , only -90 degree to +90 degree looks very good. Everything else behind the lidar system looks incorrect. Is this a known design limitation of gazebo_ros_block_laser or am I using this incorrectly?

Thanks guys, WW

The best (and only) way to describe more complex joints is to chain together multiple single degree-of-freedom joints with fixed links.

I've gotten familiar with the standalone gazebo project using .model and .world files to describe robots. Currently trying to figure out ROS and URDFs. It looks like the available joint types in URDF are limited to 1 axis rotations. Is there any way to implement a hinge2 type of joint (such as a steerable wheel) in URDF? It looks like the only way is to use two separate joints to do such a function. Am I missing something? Thanks.

Hi guys, I'm currently using Ubuntu 11.04 and install ROS via the source code method. I'm new and tried to play around with the erratic_robot example. When trying to do a rosmake, I came across a perception_pcl problem when compiling, the pcl folder in particular. Heres a snippet of the build_output.log:

/home/walter/ros/perception_pcl/pcl/build/pcl/build/io: ../libpcl_io.so.1.1.1: undefined reference to boost::system::system_category()' ../libpcl_io.so.1.1.1: undefined reference toboost::filesystem3::detail::status(boost::filesystem3::path const&, boost::system::error_code)' ../libpcl_io.so.1.1.1: undefined reference to boost::system::generic_category()' collect2: ld returned 1 exit status make[3]: *** [io/tools/convert_pcd_ascii_binary] Error 1 make[3]: Leaving directory/home/walter/ros/perception_pcl/pcl/build/pcl/build' make[2]: [io/tools/CMakeFiles/convert_pcd_ascii_binary.dir/all] Error 2 make[2]: Leaving directory /home/walter/ros/perception_pcl/pcl/build/pcl/build' make[1]: *** [all] Error 2 make[1]: Leaving directory/home/walter/ros/perception_pcl/pcl/build/pcl/build' make: * [installed] Error 2

Any ideas? Thanks.