maurizio's profile - activity

gazebo_ros2_control: different namespace Hi, I am running ros2 humble and I have detected some problems when spawning mu

Hi, as you mentioned most problems are regarding the tree, as I had in here, BUT I saw a consistent reduction of the m

See my reply above, cause it doesn't fit as a comment

Sorry for the late reply. No they all do, the layer is involved in populating local_map. You are pointing to interesting

Now you should see the graph (at the very bottom of the post): laser_frame and sonar_frame (and children) are linked to

Now you should see the graph: laser_frame and sonar_frame (and children) are linked to base_link. The very same tf works

Navigation goals not working with laser, sonar and slam_toolbox Hi there, my platform is an "almost turtlebot4": we ha

Thanks for the reply: I don't think the TF is the problem (the tf should be the same in CONFIG1/CONFIG2/CONFIG3. Look at

Navigation goals not working with laser, sonar and slam_toolbox Hi there, my platform is an "almost turtlebot4": we ha

Thanks for the reply: I don't think the TF is the problem (the tf should be the same in CONFIG1/CONFIG2/CONFIG3. Look at

Navigation goals not working with laser, sonar and slam_toolbox Hi there, my platform is an "almost turtlebot4": we ha

Navigation goals not working with laser, sonar and slam_toolbox Hi there, my platform is an "almost turtlebot4": we ha

Create3, wheel transform in Gazebo classic Hi, I have installed the Create3 simulation stack. In particular these are

Create3, wheel transform in Gazebo classic Hi, I have installed the Create3 simulation stack. In particular these are

Hi there,

I need to increase the range of the kinect for my turtlebot in simulation. I don't know what to modify: in gazebo.urdf.xacro - the package turtlebot/description (please see below) - the range is set to 10.0m so I guess there is a thresholding somewhere else.

Does anybody know where I should look for?

Thanks,

Maurizio

<xacro:macro name="turtlebot_sim_laser">
  <gazebo reference="laser">
    <sensor:ray name="laser">
      <rayCount>180</rayCount>
      <rangeCount>180</rangeCount>
      <laserCount>1</laserCount>

      <origin>0.0 0.0 0.0</origin>
      <displayRays>false</displayRays>

      <minAngle>-130</minAngle>
      <maxAngle>130</maxAngle>

      <minRange>0.08</minRange>
      <maxRange>10.0</maxRange>
      <resRange>0.01</resRange>
      <updateRate>20</updateRate>
      <controller:gazebo_ros_laser name="gazebo_ros_laser_controller" plugin="libgazebo_ros_laser.so">
    <gaussianNoise>0.005</gaussianNoise>
    <alwaysOn>true</alwaysOn>
    <updateRate>20</updateRate>
    <topicName>scan</topicName>
    <frameName>laser</frameName>
    <interface:laser name="gazebo_ros_laser_iface" />
      </controller:gazebo_ros_laser>
    </sensor:ray>
  </gazebo>
</xacro:macro>

Hi,

I am running some simulations in Gazebo: the environment is an apartment with several rooms. During the simulation I need to switch on and off the light depending on the events that happen in the apartment.

In ROS-Electric I did it with the code below, but in Fuerte this code results in a link that oscillates like a pendulum... I tried to take a look in the forum but I didn't get any result... Do you see mistakes in the following code or should I go in another direction? In the second case, I didn't find useful links to add the light a run time.

Thanks

from shell:

rosrun gazebo spawn_model -file "path_to_the_urdf_file" -urdf -model light_k

the file related to the light is:

<?xml version="1.0" ?>

<robot name="light_kitchen" xmlns:xi="http://www.w3.org/2001/XInclude"
    xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">

  <link name="bulb_k">
   <inertial>
    <mass value="1" />
            <com xyz="1.81 3.59 2.15" />
            <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0" />
        </inertial>

        <visual>
            <origin xyz="1.81 3.59 2.15" rpy="0 0 0" />  <!--   definition of the visual postion of the object!! -->
            <geometry>
                <sphere radius="0.0001" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="1.81 3.59 2.15" rpy="0 0 0" />
            <geometry>
                <sphere radius="0.0001" />
            </geometry>
        </collision>
    </link>

    <gazebo reference="bulb_k">
        <model:renderable name="light_k">
            <xyz>0.0 0.0 0.0</xyz>
            <static>true</static>
            <light>
                <type>point</type>
                <diffuseColor>0.1 0.1 0.1</diffuseColor>
                <specularColor>.01 .01 .01</specularColor>
                <attenuation>0.1 0.1 0.0001</attenuation>
                <range>4</range>
            </light>
        </model:renderable>
    </gazebo>
</robot>

I am working with Electric and not with Fuerte so I am not aware if these problems were fixed in the last release. I had to tweak some configuration files, but do you see any problem to make them compliant for single and multi-robot experiments simply adding a namespace in the high level conf files?

Thank you Ryan. I will try in the next days. By the way, in last days I set up everything for simulating two turtlebots. It took a while since, as you said, I had to remove the "/" prefixes: do you think it would be useful to remove them permanently in the official release of ROS?

Yes, thank you for the link. I was one of the guys involved and it took a lot to setup everything in simulation. In the next days I will try with the real ones

Hi,

I have a question related to multiple real turtlebots. I have to setup the system and I was wondering which is the best configuration for it.

In particular, I want to use two turtlebots and a work station at the same time, what should be the best configuration?

Basically each turtlebot should run its own navigation stack but I need to contact both the turtlebots through a single program residing on the workstation.

Is it possible to launch the roscore on the workstation and then launch each navigation stack onboard the related robot?
What about namespaces related to robots?

I had some problems with the simulated experiments but in the end we solved the problem (please look here)

Thank you