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2013-04-28 01:30:04 -0500 | asked a question | Calling setModelConfiguration service within a gazebo plugin/controller Hi, I'm trying to modify the gazebo_ros_laser plugin simply adding a function (just before the PutLaserData() method) to move the joint in a way that the sensor can tilt a certain angle and I'm using the gazebo set_model_configuration service cause I don't need dynamics. If a create a stand-alone node or I try from the command line it works, but when I try within the controller source file gazebo gets stuck or fails to call the service. If I try with: the call fails. With: gazebo gets stuck. The function I'm using is this: I printed the value I send and they are correct. I wonder if I use an incorrect name to call the service but I tried every combination. I tried even to set the joint position by this->modelParent->GetJoint(index)->..something but there is no SetPosition() function or similar. I really need your help. |
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2013-03-17 03:02:51 -0500 | asked a question | Pressure sensor implementation I'm implementing a tape pressure sensor (like this: http: //cnmat.berkeley.edu/system/files/sensor_modules/IMG_7786.jpg) in gazebo as a small link with attached a bumper to keep track of the contacts and measure the total_wrench acting on it (in particular to the z-axis component). This is my urdf: and this is the callback function of the bumper topic "weight" subscriber node: where [MY_LINK_GEOM] is the name of the link - of the object I want to measure the weight - that touches my pressure sensor. It seems to work but I cannot understand why the weight measurements vary in such a different way with the time passing as shown in the figure: https: //www.dropbox.com/s/98lepyi5015ew56/pressure1.png. Is there in your opinion a better implementation for that? |
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2013-03-06 21:54:14 -0500 | commented answer | Get state of all links in a model in gazebo? I forgot one important thing: the link has to be the root link of the robot. |
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2013-03-06 21:41:34 -0500 | answered a question | Get state of all links in a model in gazebo? The correct sintax to get the state of the link you are interested on is: Link names are prefixed by model name, e.g. pr2::base_link. The same for the second command, the correct sintax is: |
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2013-01-18 08:14:30 -0500 | asked a question | Access Gazebo main camera parameters Is there a way to access the parameters of the Gazebo main camera to retrieve for example the light intensity of a certain point in the space? |
2013-01-18 05:26:07 -0500 | answered a question | How to simulate a simple light sensor in Gazebo? When Gazebo renders the scene theoretically it should calculate the color (and thus the brightness) of each point in the scene. Is there a way to access the parameters of the Gazebo main camera to retrieve the light intensity? |
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