Gazebo: disable physics or enable kinematics through code
2015年10月6日 · Is there a way to either disable physics (but keep the simulation running) or make my link/robot kinematic through command line arguments or through ROS service calls/messages? Preferably the disabling physics one, though, since it's running on a VM and disabling physics gives a massive speed boost. ROS Version: Jade Gazebo Version: 5.0
Prismatic joint with PositionJointInterface interferes with Gazebo ...
2017年3月11日 · I working on a simulation model of a forklift using ROS control and Gazebo. I'm using a prismatic joint to simulate the piston moving the forks up and down. Since I added a PositionJointInterface to the joint transmission I have been having issues with the physics. It seams to fix the joint in place.
Find intrisic camera matrix from gazebo model - ROS Answers
2021年4月28日 · Note the ROS plugin and Gazebo sensor use two separate intrinsic parameter sets, so it's on the user to make sure they are correct. The ROS plugin source code shows how it uses the parameters only to fill the camera info. Here's an exampe:
Getting Intel Realsense d435 to work in Gazebo - ROS Answers
Hi, I'm new to ROS and I wanted to incorporate the d435 camera into my SLAM project. At the moment I'm trying to get the camera to show up in Gazebo and show the pointcloud in Rviz.
Force torque sensor simulation - ROS Answers: Open Source Q&A …
2015年11月29日 · Hi all, I'm trying to simulate a force sensor located at the tip of my robot. I'm using ros indigo with gazebo 2.2. I went through this and this tutorials and I was able to publish the contact state of a box model using libgazebo_ros_bumper.so. What I'm interested in is to use a proper force sensor with the associated force controller.
Timing / Synchronisation between Gazebo and ROS
2013年6月10日 · I got a question regarding the timing in Gazebo and ROS. I have a robot which uses Gazebo plugins and some ROS packages. In my plugins I use ros::Time::now() for everything I send outside of Gazebo (normally ros messages) and the ROS packages also (seem to) use ROS time. Only for Gazebo components, like my pid's, I use gazebo simulation time.
How to use Gazebo 7 or Gazebo 9 with ROS Noetic?
I am aware that Gazebo versions are tied/coupled with ROS distributions. For e.g. Gazebo 7 with Kinetic, Gazebo 9 with Melodic and Gazebo 11 with Noetic. How do I use an unsupported Gazebo version with a specific ROS distribution? I work with ROS Noetic and wanted to try out some simulation packages which were written for ROS Melodic or ROS ...
Controlling joints in Gazebo - ROS Answers: Open Source Q&A …
In gazebo you must not run the joint_state_publisher. Instead, you need to run controller plugin (e.g. the gazebo_ros_controller_manager) that reads the joint states from the simulated robot and publishes them on the joint_states topic. You cannot move the robot by just publishing different joint states since joint states represent the current ...
How can I speed up simulation in Gazebo? - ROS Answers
2011年4月15日 · Basically, my approach was to downsample sensors as much as possible, downsample physics, and then patch Gazebo as needed where the profile showed huge hits. Like you, my application is teleoperation. With a powerful machine, Gazebo can run at real time or faster (I run at 1.4x real-time using an Intel i7 2600K with a GT 560 Ti GPU).
ros_control without gazebo? - ROS Answers: Open Source Q&A …
The gazebo_ros_control package is essentially just one implementation of a ros_control hardware_interface subclass/plugin, which together with a node running the read()/write() loop (which may be run from a hard real-time task, or from a regular pthread, or something else) forms the bulk of a ros_control setup.
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