erikjber's profile - activity

System: Ubuntu 10.10, kernel 2.6.35-27, 64 bit.
ROS: Latest diamondback from the repositories.

I'm following the PR2 tutorial here:
http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls

Everything works fine, I'm mostly interested in the gripper and I can open and close it using rostopic.

What I can't do is read the state of the bumper: when I execute rostopic echo l_gripper_l_finger_bumper/state I get the following error message:

WARNING: no messages received and simulated time is active.
Is /clock being published?

Executing rostopic echo /clock indicates that the clock is indeed being published.

Has anyone else gotten the bumper plugin to work? Any hints/tips?

After adding the following section to model/hand_urdf/thumb/thdistal.urdf.xacro in the sr_hand package Gazebo crashes during startup.

<gazebo reference="thdistal">
  <sensor:contact name="thdistal_contact_sensor">
    <geom>distal_collision_geom</geom>    
    <updateRate>100.0</updateRate>    
    <controller:gazebo_ros_bumper name="thdistal_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">
      <alwaysOn>true</alwaysOn>    
      <updateRate>100.0</updateRate> 
      <frameName>thdistal</frameName>  
      <bumperTopicName>thdistal_bumper</bumperTopicName>
      <interface:bumper name="thdistal_gazebo_ros_bumper_iface" />
    </controller:gazebo_ros_bumper>    
  </sensor:contact>
  <material>Gazebo/Grey</material>
</gazebo>

If I comment out the <geom> and the first <updaterate> tags Gazebo starts, but no contact messages are published.

All log files indicate that everything should be fine.

Any idea what I'm doing wrong?

Hi, Sorry about the delay in answering this thread.

Electric is not supported yet for the Gazebo simulation of our hardware (see this bug report). I'll try to fix this shortly.

Cheers,

Ugo

When starting Gazebo with the command "roslaunch sr_hand gazebo_arm_and_hand_motor.launch" I get this error:

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory

/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


Error Loading Gazebo
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/Simulator.cc:326 : Exception: Failed to load the World
/tmp/buildd/ros-electric-simulator-gazebo-1.4.3/debian/ros-electric-simulator-gazebo/opt/ros/electric/stacks/simulator_gazebo/gazebo/build/gazebo/server/controllers/ControllerFactory.cc:99 : Exception: Failed to load libgazebo_ros_factory.so: libgazebo_ros_factory.so: cannot open shared object file: No such file or directory


failed to cleanly remove [/tmp/gazebo-ebd-0] : [Directory not empty]
[gazebo-2] process has died [pid 23426, exit code 255].
log files: /home/ebd/.ros/log/0c876ba2-dec0-11e0-8e01-0025b311be58/gazebo-2*.log                 

The promised log files are not created.

I checked ROS_ROOT/../stacks/simulator_gazebo/gazebo_plugins/lib, and the file libgazebo_ros_factory.so is there in diamondback, but not in electric.

Hi, The plugin was not publishing if no contacts exists for the referenced body. I patched the plugin so bumper publishes regardless it is in contact or not, please see https://code.ros.org/trac/ros-pkg/ticket/4872">ticket #4872 and https://code.ros.org/trac/ros-pkg/changeset/36417">patch.

sorry for the confusion.

Never mind, I just realised that all I have to do is remove dependencies on all packages that are no longer present in Diamondback.

Platform: Diamondback, Ubuntu 10.10 64-bit.

I'm using rosjava, so I need to generate class files for all messages.

I tried using the rosjava_deps package (http://www.ros.org/wiki/rosjava_deps), but it depends on the genmsg_cpp package (http://www.ros.org/wiki/genmsg_cpp), which appears to be gone.

How do I auto-generate the message source or class files?