Sebastian Kasperski's profile - activity

Hello,

I am currently trying to model a wheeled robot (pioneer3at) in Gazebo. The problem I face is that it strangely bounces of its wheels whenever it gets an impulse. So I thought the problem might be that the wheels are too hard and do not absorb any energy.

http://gazebosim.org/wiki/Tutorials/1...

Following the link above I added a kp-tag to the according gazebo-tag in my URDF, but whatever value I use, it just causes the wheel to be ignored completely for collisions. (It will just fall through the floor)

What is the correct way to describe collision properties in Gazebo?

Update:

I now had a closer look at the Husky-Bot, which seems quite similar to the Pioneer. In Gazebo, it shows none of the mentioned problems. The definition of the Husky-Wheels seems pretty similar to what I did:

<gazebo reference="${fb}_${lr}_wheel">
    <mu1 value="1.0"/>
    <mu2 value="1.0"/>
    <kp  value="10000000.0" />
    <kd  value="1.0" />
    <fdir1 value="1 0 0"/>
    <material>Gazebo/Grey</material>
    <turnGravityOff>false</turnGravityOff>
</gazebo>

So how comes it is not bouncing around like my Pioneer?

About the StartMapping service, the parameter was indeed removed some years ago, so it's just called with no params now.

You may want to check http://wiki.ros.org/nav2d for a light-weight navigation. Also have a look at http://wiki.ros.org/

The goal when creating the nav2d stack was to have a simpler, easier-to-access solution to basic robot navigation tasks.

With only odometry, you cannot do any optimization. Think of optimization as a method of data fusion. With only one sour

First of all, for graph-slam you need to establish relative constraints between your key frames. With only (visual) odom

Yes, OpenKarto is SLAM, as is gmapping and others as well. While the map is build, the robot is constantly localized. Yo

As Luc pointed out, the LoopClosing is done internally by OpenKarto. It is done automatically, so you should see closure

Yes, OpenKarto is SLAM, as is gmapping and others as well. While the map is build, the robot is constantly localized. Yo

Setting the laser_frame to base_footprint doesn't seem right to me. It should be the frame where your laser device (the

I am using catkin_tools with melodic and would like to define static libraries system-wide, or at least workspace-wide. I don't want to manually change every CMakeLists.txt in my workspace.

It works by adding the CMake-Variable to the catkin config; catkin config -a --cmake-args -DBUILD_SHARED_LIBS=0

How to make "catkin build" build static libs? I am using catkin_tools with melodic and would like to define static libra

The laser points should be above the map, if they are below there is likely something wrong with the transformations. Fo

The laser points should be above the map, if they are below there is likely something wrong with the transformations. Fo

And your topic is called /scan/front, if I see it correctly. MAybe you also need to change the observation name to "scan

Can you validate via RViz that the laser points are really above the ground and not higher then 1m?

This is likely related to the height of the sensor being not within the min-max-height of the costmap. Please check the

Yes, you just use add_library instead of add_executable. Make sure to add your library to the target_link_libraries afte

Maybe search/ask here at ros-aswers for what other possibilities exist to communicate between roscores.

In this case you would need some other means of sharing topics between systems. Or find out why ros-rt-wmp is not workin

You said you are using the ros-rt-wmp package. With this it should be possible to share topics between robots (with sepa

These might be some timing related issue. From what you write it looks a bit like the mapper is not able to provide the

This usually happens when your odometry gives wrong values (e.g. reports the robot is driving backward). Or your laser i

No, rolling window maps are local maps and not used for localization.

So your question is solved?

No, I haven't used it. When deciding on a solution, keep in mind that you will have to add any detected stairs to the gl

No, I haven't used it. When deciding on a solution, keep in mind that you will have to add any detected stairs to the gl

Well, nav2d is a package for 2D navigation, and stairs are a very 3D-type of thing! ;) However, the costmap_2d (which i

What node publishes these transforms? Aren't they static? If the robot crashes, this has nothing to do with the map, bu

What is the issue with the map? When there are people walking along while you map, they are likely to appear in the map.

What is the issue with the map? When there are people walking along while you map, they are likely to appear in the map.