Jonathan Ruiz's profile - activity

Hello,

I have some nodes that uses custom messages that I have in my workspace. In the package.xml I have declared it as depends (build and run), but if I clean the workspace when I use catkin_make to build everything it crash.

The crash is because the compiler try to build the node before generating the message and cannot find header files for the messages.

I think that I forgot something, but I cannot find a solution in the web.

Thanks you very much.

PD: I am using hydro.

I've turned off gravity in each link and everything work well.

<gazebo reference="shoulder_0">
      <turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="shoulder_1">
      <turnGravityOff>true</turnGravityOff>
</gazebo>

Thanks!

I've resolved it now, I've turned gravity off in each link of arm and everything work well. Thanks!

Yes, I'm using gazebo. I based my quadrotor in "hector_quadrotor" stack it works well. But I have another problem with gazebo, I posted it in: http://answers.ros.org/question/58669/problem-with-two-joints-in-arm/ thanks

Hi!

I'm trying to build an arm to put on a quadrotor. I've written a urdf file to describe this arm. When I only have one joint everything works well, I can control this joint and everything is correct, but when I enable the second arm joint start to shake and I can't control it. It happens when I change joint "shoulder_y_arm_joint" from "fixed" to "revolute":

 <link name="arm_base_link">
      <inertial>
        <mass value="0.00001" />
        <origin xyz="0.0625 0.065 0.203" />
        <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
      </inertial>

      <visual>
        <origin xyz="0.0625 0.065 0.203" rpy="0.0 0.0 -2.3561925" />
        <geometry>
          <mesh filename="package://uav/Media/models/bonebraker/brazo0.dae"/>
        </geometry>
      </visual>

      <collision>
        <origin xyz="0.0625 0.065 0.203" rpy="0.0 0.0 -2.3561925" />
        <geometry>
          <mesh filename="package://uav/Media/models/bonebraker/brazo0.dae"/>
        </geometry>
      </collision>
    </link>
 <joint name="base_arm_joint" type="fixed">
        <parent link="base_link"/>
    <child link="arm_base_link"/>
  </joint>

<link name="shoulder_0">
      <inertial>
        <mass value="0.01" />
        <origin xyz="0.0 0.0 0.0" />
        <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
      </inertial>

      <visual>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.0" />
        <geometry>
          <mesh filename="package://uav/Media/models/bonebraker/brazo1.dae"/>
        </geometry>
      </visual>

      <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.0" />
        <geometry>
          <sphere radius='0.0002'/>
          <!--<mesh filename="package://uav/Media/models/bonebraker/brazo1.dae"/>-->
        </geometry>
      </collision>
    </link>
 <joint name="shoulder_y_arm_joint" type="fixed">
    <axis xyz="0 0 1"/>
        <limit effort="1000" lower="-0.8726" upper="0.8726" velocity="0.001"/>
        <origin xyz="0.048 0.050 0.155" rpy="0.0 0.0 -2.3561925" />
        <parent link="arm_base_link"/>
    <child link="shoulder_0"/>
  </joint>

<link name="shoulder_1">
      <inertial>
        <mass value="0.00001" />
        <origin xyz="0.0 0.0 0.0" />
        <inertia ixx="0.00007" ixy="0.0" ixz="0.0" iyy="0.00007" iyz="0.0" izz="0.00007" />
      </inertial>

      <visual>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.0" />
        <geometry>
          <mesh filename="package://uav/Media/models/bonebraker/brazo2.dae"/>
        </geometry>
      </visual>

      <collision>
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.0" />
        <geometry>
           <sphere radius='0.0002'/>
        </geometry>
      </collision>
    </link>
 <joint name="shoulder_p_arm_joint" type="revolute">
    <axis xyz="0 1 0"/>
        <limit effort="0.1" lower="-3.14159" upper="1.0" velocity="0.001"/>
    <origin xyz="0.008 -0.00 -0.032" rpy="0.0 0.0 0.0" />
        <parent link="shoulder_0"/>
    <child link="shoulder_1"/>
  </joint>

Can you help me? Thank you in advance.

Hi,

I'm sorry for my bad english.

I need to create a quadrotor simulator with an arm, but I don't want to simulate the physics. At the moment I'm control quadrotor changging model state through ROS. I think that If I turn disable the gravity in my model when I'll try to take anything with an arm in quadrotor, the simulation probably don't work well.

¿Does anybody know if it is posible?

Thanks for your atention.