raimat90's profile - activity

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

Access buffered data in ApproximateTimeSynchronizer The node is in python. My goal is to synchronize two topics and then

I tried to apply gazebo body wrench on a sphere (that uses plugin object_controller) to make it jump, however it falls down extremely slow - even after increasing mass to 100. I spawned then another sphere and that worked just fine. Consequently, I added to the new sphere plugin object_controller since I need it and.. its behaviour is now same with the first one - both fall extremely slow down.

Question --> How does the plugin correlate/affect gravity and how can I achieve both working plugin and free fall?

Below excerpts from sdf. I hope it's not too less and not too much pasted?

<model name='unit_sphere_1'>
  <pose frame=''>11 1 0.5 0 -0 0</pose>
  <link name='target'>
    <inertial>
      <mass>1</mass>
      <inertia>
        <ixx>0.1</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>0.1</iyy>
        <iyz>0</iyz>
        <izz>0.1</izz>
      </inertia>
    </inertial>
    <collision name='collision'>
      <geometry>
        <sphere>
          <radius>0.5</radius>
        </sphere>
      </geometry>
     <max_contacts>10</max_contacts>
      <surface>
        <contact>
          <ode/>
        </contact>
        <bounce/>
        <friction>
          <ode/>
          <torsional>
            <ode/>
          </torsional>
        </friction>
      </surface>
    </collision>
    <visual name='visual'>
      <geometry>
        <sphere>
          <radius>0.5</radius>
        </sphere>
      </geometry>
      <material> //some material
      </material>
    </visual>
    <self_collide>0</self_collide>
    <kinematic>0</kinematic>
    <gravity>100</gravity>
  </link>
 <plugin name='p3d_controller' filename='libgazebo_ros_p3d.so'>
    <bodyName>target</bodyName>
    <alwaysOn>true</alwaysOn>
    <updateRate>1000.0</updateRate>
    <topicName>target_ground_truth</topicName>
    <frameName>map</frameName>
    <xyzOffsets>25.65 25.65 0</xyzOffsets>
    <rpyOffsets>0 0 0</rpyOffsets>
  </plugin>
  <plugin name='object_controller' filename='libgazebo_ros_planar_move.so'>
    <robotBaseFrame>target</robotBaseFrame>
    <commandTopic>old/cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <odometryRate>20.0</odometryRate>
  </plugin>
</model>

second sphere: (basically the same, just there is no <gravity>1</gravity> and I just added one plugin)...

    </visual>
    <self_collide>0</self_collide>
    <kinematic>0</kinematic>
  </link>
  <plugin name='object_controller' filename='libgazebo_ros_planar_move.so'>
    <robotBaseFrame>link</robotBaseFrame>
    <commandTopic>new/cmd_vel</commandTopic>
    <odometryTopic>new/odom</odometryTopic>
    <odometryFrame>new/odom</odometryFrame>
    <odometryRate>20.0</odometryRate>
  </plugin>
</model>

I am trying to profile a node with valgrind and visualize a call graph with kcachegrind. According to http://wiki.ros.org/roslaunch/Tutoria... I added in launchfile:

launch-prefix="valgrind --tool=callgrind"

And then would like to open:

kcachegrind

where I need to specify the path to callgrind generated files.

How to set a path I want as a parameter, or eventually where are those generated files saved by default? While running cachegrind with a pure c++ code they are automatically placed in build, which seems to be not the case for ROS, as I checked build (among various other) folders.