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2016-06-01 05:11:49 -0600 asked a question The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

Hello! I'm using tum_simulator on ROS and Gazebo. When I do roslaunch cvg_sim_gazebo quadrotor.launch appears the

WARN: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.

The quadrotor doesn't move correctly with respect x-y axis. My URDF are:

<?xml version="1.0"?>

<robot
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:xacro="http://ros.org/wiki/xacro"
>


  <xacro:macro name="quadrotor_controller">
    <gazebo>
      <plugin name="quadrotor_simple_controller" filename="libhector_gazebo_quadrotor_simple_controller.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <bodyName>base_link</bodyName>
        <stateTopic>ground_truth/state</stateTopic>
        <imuTopic>ardrone/imu</imuTopic>
        <topicName>cmd_vel</topicName>
        <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
        <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
        <rollpitchLimit>0.5</rollpitchLimit>
        <yawProportionalGain>2.0</yawProportionalGain>
        <yawDifferentialGain>1.0</yawDifferentialGain>
        <yawLimit>1.5</yawLimit>
        <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
        <velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
        <velocityXYLimit>2</velocityXYLimit>
        <velocityZProportionalGain>5.0</velocityZProportionalGain>
        <velocityZDifferentialGain>1.0</velocityZDifferentialGain>
        <velocityZLimit>0.5</velocityZLimit>
        <maxForce>30</maxForce>
        <motionSmallNoise>0.05</motionSmallNoise>
        <motionDriftNoise>0.03</motionDriftNoise>
        <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
      </plugin>

      <plugin name="quadrotor_state_controller" filename="libhector_gazebo_quadrotor_state_controller.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <bodyName>base_link</bodyName>
        <stateTopic>ground_truth/state</stateTopic>
        <imuTopic>ardrone/imu</imuTopic>
        <sonarTopic>sonar_height</sonarTopic>
        <topicName>cmd_vel</topicName>
      </plugin>
    </gazebo>
  </xacro:macro>
</robot>

<?xml version="1.0"?>

<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro"
>

  <xacro:macro name="quadrotor_sensors">
    <gazebo>
      <plugin name="quadrotor_imu_sim" filename="libhector_gazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>base_link</bodyName>
        <frameId>ardrone_base_link</frameId>
        <topicName>ardrone/imu</topicName>
        <rpyOffsets>0 0 0</rpyOffsets> <!-- deprecated -->
        <gaussianNoise>0</gaussianNoise>  <!-- deprecated -->
        <accelDrift>0.5 0.5 0.5</accelDrift>
        <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
        <rateDrift>0.0 0.0 0.0</rateDrift>
        <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
        <headingDrift>0.0</headingDrift>
        <headingGaussianNoise>0.00</headingGaussianNoise>
      </plugin>

      <plugin name="quadrotor_baro_sim" filename="libhector_gazebo_ros_baro.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>pressure_height</topicName>
        <altimeterTopicName>altimeter</altimeterTopicName>
        <offset>0</offset>
        <drift>0.1</drift>
        <gaussianNoise>0.5</gaussianNoise>
      </plugin>

      <plugin name="quadrotor_magnetic_sim" filename="libhector_gazebo_ros_magnetic.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>magnetic</topicName>
        <offset>0 0 0</offset>
        <drift>0.0 0.0 0.0</drift>
        <gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
      </plugin>

      <plugin name="quadrotor_gps_sim" filename="libhector_gazebo_ros_gps.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>4.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>fix</topicName>
        <velocityTopicName>fix_velocity</velocityTopicName>
        <drift>5.0 5.0 5.0</drift>
        <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
        <velocityDrift>0 0 0</velocityDrift>
        <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
      </plugin>

      <plugin name="quadrotor_groundtruth_sim" filename="libgazebo_ros_p3d.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>100.0</updateRate>
        <bodyName>base_link</bodyName>
        <topicName>ground_truth/state</topicName>
        <gaussianNoise>0.0</gaussianNoise>
        <frameName>map</frameName>
      </plugin>

    </gazebo>
  </xacro:macro>
</robot>

Can someone help me? thanks you.

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2016-05-04 05:58:48 -0600 commented answer When I try to do a client of a service of ROS, Matlab and ROS give me an error!

They are on a different computer. Matlab in on Mac and ROS on Ubuntu

2016-05-03 06:23:10 -0600 asked a question When I try to do a client of a service of ROS, Matlab and ROS give me an error!

Hello! I'm trying to interface Matlab and ROS. I've a service in ROS and I want to do a client of this service in Matlab but when I do:

rosinit ('http://....:11311')
client = rossvcclient('/launch_by_service')

Matlab and ROS make me an error as this:

Failed to create a /launch_by_service service client.
[ERROR] ServiceClientHandshakeHandler - Service client handshake failed: client wants service /launch_by_service to have md5sum e1d8c050aed05957d504a68117eb0528, but it has 546971982e3fbbd5a41e60fb6432e357. Dropping connection.

When I do rosservice list from Matlab I see the service and the type. Can somebody help me? Thanks!

2016-05-03 06:23:09 -0600 asked a question When I try to do a client of a service of ROS, Matlab give me an error!

Hello! I'm trying to interface Matlab and ROS. I've a service in ROS and I want to do a client of this service in Matlab but when I do: rosinit ('http://....:11311') client = rossvcclient('/launch_by_service') Matlab make me an error as this: Failed to create a /launch_by_service service client. [ERROR] ServiceClientHandshakeHandler - Service client handshake failed: client wants service /launch_by_service to have md5sum e1d8c050aed05957d504a68117eb0528, but it has 546971982e3fbbd5a41e60fb6432e357. Dropping connection. When I do rosservice list from Matlab I see the service and its type. Can somebody help me? Thanks!

2016-03-24 05:35:19 -0600 received badge  Enthusiast
2016-03-17 17:45:37 -0600 asked a question Matlab Ros communication with Virtual Box

I've ROS on Vitual Box and Matlab on OS X. I connected them through a port and when I do rosinit, rosined list, rostopic list Matlab works without problem whit topics and node of ROS. When I do rostopic echo /topic name/ Matlab says "the class 'robotics.ros.Subscriber' contains a parse error, cannot be found on MATLAB's search path, or is shadowed by another file with the same nam" and ROS "couldn't find an AF_INET address for /hostname/" But the port it's ok because other function works.Thanks for the help