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2016-06-23 08:58:49 -0600 asked a question How to get global pose of a specific model's link in a gazebo world?

How do I get exact pose of a specific link of a model in Gazebo simulated world? To get model's (i.e. base_link) global position I call rosservice call gazebo/get_model_state '{model_name: my_model_name} but what I really need is a global pose of my lidar's link.

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2016-06-13 03:03:09 -0600 asked a question ros_control with a tricycle robot

Is tricycle model robot can be used with ros_control? If so what would typical configuration look like? I was able to use ros_control with a differential drive robot model in Gazebo following husky example, but for a tricycle robot didn't find anything working of the same sort. I am using ROS kinetic.

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2016-06-11 12:58:37 -0600 asked a question How to get odometry in Gazebo when using ros_control?

Is there is a way to get odometry published in /odom topic when using ros_control with Gazebo. I am using ROS kinetic and gazebo_ros_control for simulation.

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2016-06-04 13:02:36 -0600 asked a question Modeling a heavy tricycle robot

I am modeling (ros kinetic + gazebo7) heavy (more than 700 kg.) tricycle robot. To control its movements in Gazebo simulator I am using gazebo_ros_tricycle_drive plugin. All seems to work more or less when I control model using utility, but when using standard navigation stack and specifying targets on a map my model is not stopping near given target, but continues to roll as if by inertia. Should I tweak some (which ones?) parameters in aforementioned tricycle plugin or in URDF model of the robot? Or should I instead use gazebo_ros_control pluging?

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2016-06-03 04:42:44 -0600 asked a question Use different LaserScan source for obstacle avoidance

Is it possible to use different LaserScan source for obstacle avoidance? In my robot model I have several laser scanners installed and want to use one for navigation and the other one (possible more than one) for obstacle avoidance. I am using ROS Indigo and Kinetic with standard navigation stack.