Gazebo support (draft) #19

mikaelarguedas · 2019-04-02T17:39:33Z

DO NOT MERGE It was initially marked as draft but apparently something went wrong on page refresh

confbot_description/urdf/confbot.urdf

mikaelarguedas · 2019-04-03T19:03:30Z

confbot_description/urdf/confbot.urdf

+
+<gazebo reference="laser_frame">
+    <!--sensor type="gpu_ray" name="lidar"-->
+    <sensor type="ray" name="lidar">


I'm using ray here because gpu_ray returns infinity for all points even the one hitting obstacles.
also it prints this warning:

[gazebo-1] [Wrn] [msgs.cc:1852] Conversion of sensor type[gpu_ray] not supported.

That warning can be ignored.

Does your model have visuals besides collisions? The gpu_ray sees visuals, while the ray sees collisions.

Can you reproduce the issue with this demo world? https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_plugins/worlds/gazebo_ros_ray_sensor_demo.world

I'm using only primitive shapes that I dropped in the world from the Gazebo UI, I think they have both visual and collision.

Thanks for the pointer, we'll try it on the demo world to see if it's the same.

Note: I'm compiling the gazebo plugins from source without any specific flags, maybe GPU support is not enabled?

I think they have both visual and collision.

Yup, they do

I'm compiling the gazebo plugins from source without any specific flags, maybe GPU support is not enabled?

There are no flags to disable GPU support, so compilation should be working correctly. At runtime, if gzclient works, then I'd expect the rendering sensors to work as well. You could double-check by dropping a camera in the world and seeing if the images show the shapes.

@chapulina Sorry for the delay, I fInally got a chance to try the demo world (using the dashing debs), and I'm facing the same issue:

command ran:

gazebo --verbose /opt/ros/dashing/share/gazebo_plugins/worlds/gazebo_ros_ray_sensor_demo.world```

Regular ray sensor works (some non inf values)

$ ros2 topic echo /ray/laserscan header: stamp: sec: 13 nanosec: 25000000 frame_id: ray_link angle_min: -0.5235999822616577 angle_max: 0.5235999822616577 angle_increment: 0.0035023412201553583 time_increment: 0.0 scan_time: 0.0 range_min: 0.05000000074505806 range_max: 50.0 ranges: [.inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 2.0448575019836426, 2.0313127040863037, 2.0236432552337646, 2.018503189086914, 2.0150201320648193, 2.0128238201141357, 2.0117366313934326, 2.0116827487945557, 2.0126583576202393, 2.0147311687469482, 2.0180652141571045, 2.0230026245117188, 2.030329465866089, 2.0427944660186768, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 1.455374836921692, 1.45494544506073, 1.4545341730117798, '...'] intensities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, 100.0, 100.0, '...']

gpu_ray sensor returns only infinity

$ ros2 topic echo /gpu_ray/laserscan header: stamp: sec: 7 nanosec: 0 frame_id: ray_link angle_min: -0.5235999822616577 angle_max: 0.5235999822616577 angle_increment: 0.0035023412201553583 time_increment: 0.0 scan_time: 0.0 range_min: 0.05000000074505806 range_max: 50.0 ranges: [-.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, -.inf, '...'] intensities: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, '...']

I tried the camera demo and can see the objects successfully:

gazebo --verbose /opt/ros/dashing/share/gazebo_plugins/worlds/gazebo_ros_camera_demo.world

Interesting, I get very similar readings from both of them, I'm on a source install.

$ ros2 topic echo /gpu_ray/laserscan header: stamp: sec: 139 nanosec: 2000000 frame_id: ray_link angle_min: -0.5235999822616577 angle_max: 0.5235999822616577 angle_increment: 0.0035023412201553583 time_increment: 0.0 scan_time: 0.0 range_min: 0.05000000074505806 range_max: 50.0 ranges: [.inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 2.0503170490264893, 2.033238172531128, 2.024780511856079, 2.0192136764526367, 2.0154314041137695, 2.012951612472534, 2.011847734451294, 2.0118982791900635, 2.0129361152648926, 2.0150675773620605, 2.0186455249786377, 2.0241785049438477, 2.032437562942505, 2.0490212440490723, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 1.454956293106079, 1.4545066356658936, '...'] intensities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, '...'] ---

$ ros2 topic echo /ray/laserscan header: stamp: sec: 153 nanosec: 18000000 frame_id: ray_link angle_min: -0.5235999822616577 angle_max: 0.5235999822616577 angle_increment: 0.0035023412201553583 time_increment: 0.0 scan_time: 0.0 range_min: 0.05000000074505806 range_max: 50.0 ranges: [.inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 2.0448575019836426, 2.0313127040863037, 2.0236432552337646, 2.018503189086914, 2.0150201320648193, 2.0128238201141357, 2.0117366313934326, 2.0116827487945557, 2.0126583576202393, 2.0147311687469482, 2.0180652141571045, 2.0230026245117188, 2.030329465866089, 2.0427944660186768, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, .inf, 1.455374836921692, 1.45494544506073, 1.4545341730117798, '...'] intensities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 60.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, 100.0, 100.0, '...'] ---

Do the GPU readings look right on Gazebo's topic viewer (Ctrl + T, and you need to zoom in):

I can only think it's an issue with your graphics, but I'm not sure why the RGB camera works. Are the point cloud messages working?

I can only think it's an issue with your graphics, but I'm not sure why the RGB camera works.

Yeah I had some issues of RViz being very slow as well. I ended up reinstalling all the graphics drivers and it seems to have fixed the issue !

Thanks for taking the time to reproduce 🙇‍♂️ !

mikaelarguedas · 2019-04-03T19:11:49Z

How I'm testing this:

ros2.repos + additionnal_repos.repos in an underlay
this repo in an overlay built with:

colcon build --merge-install --cmake-args -DSECURITY=ON -DPOLICY_FILE=<PATH_TO_WORKSPACE>/src/roscon2018/confbot_security/safe_zone_publisher_policies.xml

Running:
In all shells start with:
source <PATH_TO_WORKSPACE>/install/setup.bash

Shell 1:

export GAZEBO_MODEL_PATH=<PATH_TO_WORKSPACE>/install/share/
source /usr/share/gazebo/setup.sh
ros2 launch confbot_simulation empty_world.launch.py

Shell 2

ros2 run confbot_simulation urdf_spawner.py `ros2 pkg prefix confbot_description --share`/urdf/confbot.urdf
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{angular: {z: 1}}" -1

Shell 3:

ros2 run rviz2 rviz2 -d `ros2 pkg prefix confbot_bringup --share`/config/confbot.rviz

mikaelarguedas · 2019-04-03T19:13:51Z

~~CI currently blocked by mikaelarguedas/ros2ci#11~~

Worked around it upstream, CI is green

mikaelarguedas · 2019-05-04T10:16:27Z

Things that don't work as originally expected:

GPU ray:
#19 (comment)

Simulation time:
- we use the gazebo_ros_factory library to be able to spawn models in gazebo. But that libary doesnt publish the simulated time resulting in using system time everywhere anyway. gazebo_ros_init seems to publish the sim time, but doesnt allow to spawn model via services. Is there a way to get both the spawning interfaces and the simulation time published ?
Launching gazebo with both plugins is doable and should solve this

Published transforms

tf from odom to base_link is published by the diff_drive plugin. Regardless of the update_rate specified for that plugin, RViz can't display more that a laser scan every second or so due to missing transform.

Lookup would require extrapolation into the future.  Requested time 117.20500 but the latest data is at time 117.18300, when looking up transform from frame [base_link] to frame [odom]

@Karsten1987 as you said you had a different gazebo demo available, any clue as of what should be changed here? (maybe @chapulina has some insights as well?)

chapulina · 2019-05-07T02:56:33Z

RViz can't display more that a laser scan every second or so due to missing transform

Maybe it's due to ros2/rviz#332 ? I've seen something similar with wheel transforms on the diff drive demo, see ros-simulation/gazebo_ros_pkgs#806 (comment)

chapulina · 2019-05-07T02:58:43Z

a different gazebo demo available

Maybe it was https://github.com/chapulina/dolly/ ? I've visualized the laser scans on RViz, but since the laser update rate itself is low on purpose, I probably never noticed that problem. Turn the bug into a feature 😉

mikaelarguedas · 2019-05-07T11:58:03Z

Maybe it's due to ros2/rviz#332 ? I've seen something similar with wheel transforms on the diff drive demo, see ros-simulation/gazebo_ros_pkgs#806 (comment)

Thanks! It looks like the same issue, I tried the referenced PR enabling message_filters but ended up with RViz segfaulting.
Using use_sim_time true on Rviz prevent the segfault.
LaserScan are not displayed because rviz drops the messages with [signalFailure] Drop message: frame 'base_link' at time 268.967 for reason(0)

@Karsten1987 I'll be away from a computer for the next couple weeks, would you mind giving this a try when you get a chance ?

rename links and joints to have semantic names add inertia to all links add laser and diffdrive plugins Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

This reverts commit b79ca27.

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Karsten1987 · 2019-05-17T21:30:21Z

I've rebased this branch on top of the latest master to be able to compile to latest ros2 master.

Karsten1987 · 2019-05-19T02:53:52Z

So I gave this a shot and had only very poor results. I can't get around the TF error independent on where to set use_sim_time.
The robot model spawns in gazebo (without the base mesh though) and moves correctly when publishing a velocity.
Things go very south when trying to visualize all of this in RViz. The laser scans are not shown at all and the TF error let's my mac run on 100% CPU power. So I am not sure what to do here next.
I've tried setting the the simulation time on every node, but that also doesn't yield any success.

I'll try to catch @chapulina in the next few days to sort this out offline.

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-20T22:18:30Z

For setting the use_sim_time correctly the LaunchConfigurations have to be conditioned. See ros2/launch_ros#30 for a full issue description

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2019-05-22T00:51:38Z

we could boil it down far enough to make it work flawless when setting the fixed frame in RViz to the laser_frame. We've seen a constant time delay of approx 100ms which makes the TF transform fail (with sim_time enabled).
So I am not sure if it's the laser or the TF message filters which are not working.

While working with the laser, we've found that the orientation in the urdf must be wrong. Then by visualizing the laser scan in Gazebo, we've noticed that the laser is wrongly rotated around 90 degrees.

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Need to create an optical frame to match REP103 as camera plugin uses x forward and not z forward Need to source Gazebo setup file manually for the camera plugin to be found and loaded successfully No namespace provided to plugin as it appends the sensor name to the namespace already, otherwise results in /confbot_camera/confobt_camera/image_raw Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Karsten1987 · 2019-06-05T23:47:18Z

tutorial/Linux_Tutorial.md

+
+##### Simulating the robot in Gazebo
+
+Make sure to kill all the running nodes.


great opening :)

nothing like a grand entrance for a tutorial :)

mikaelarguedas · 2019-06-06T13:20:54Z

I'll merge this as an initial version and ticket pending issues / open follow-up PRs

mikaelarguedas closed this Apr 2, 2019

mikaelarguedas reopened this Apr 2, 2019

mikaelarguedas commented Apr 2, 2019

View reviewed changes

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mikaelarguedas force-pushed the gazebo branch 2 times, most recently from c539851 to 0434485 Compare April 3, 2019 19:01

mikaelarguedas commented Apr 3, 2019

View reviewed changes

mikaelarguedas mentioned this pull request May 2, 2019

add xmllint test and fix dependency list #30

Merged

mikaelarguedas force-pushed the gazebo branch from 0434485 to f0e32ee Compare May 3, 2019 15:40

mikaelarguedas force-pushed the gazebo branch from 53b2aa2 to 2ef47b9 Compare May 4, 2019 10:51

mikaelarguedas added 13 commits May 17, 2019 14:28

first step to gazebo support

61db58e

rename links and joints to have semantic names add inertia to all links add laser and diffdrive plugins Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

add scripts taken and modifies from turtlebot3_simulation

3cdf7a1

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

add simulation launchfile

806188c

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

move urdf_spawner back in confbot_simulation

09cba9a

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

restore package:// path

d164f5a

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

add dependencies not part of the nightly image

7bb59d9

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

blacklist dependencies built from source from the test invocation

9b37f60

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

fix test failures

84cc7d9

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

almost empty world

1c73252

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

rebasing

3aa543d

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

dont set use_sim_time as currently doesn't impact time used

60deaa4

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Revert "dont set use_sim_time as currently doesn't impact time used"

d7695e7

This reverts commit b79ca27.

use libgazebo_ros_init to have sim time published

7742dc2

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Karsten1987 force-pushed the gazebo branch from 2ef47b9 to 7742dc2 Compare May 17, 2019 21:29

Karsten1987 mentioned this pull request May 18, 2019

Updates for Dashing API ros-perception/image_common#126

Closed

Karsten1987 added 2 commits May 20, 2019 11:17

fix conversion error from string to bool

d5d09f4

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

actually using the sim time parameter correctly

5427e4d

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

interpret launch configuration as yaml

739006f

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 added 2 commits May 21, 2019 17:53

visualize the laser scan in gazebo

ae5f961

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

use sim time

394521e

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 mentioned this pull request May 23, 2019

Use rclcpp::Time for stamping transforms ros2/robot_state_publisher#20

Merged

mikaelarguedas added 7 commits June 5, 2019 15:53

make laser_frame point forward

e885f50

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

gazebo_ros now declares/set use_sim_time to true by default

6777de9

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

move back camera_frame on the robot base

ea88a55

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

add rviz config for gazebo

18e5594

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

add preliminary Gazebo section

82127e1

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

fix config file name in instructions

cadb71a

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Karsten1987 reviewed Jun 5, 2019

View reviewed changes

mikaelarguedas mentioned this pull request Jun 6, 2019

add legacy ros1 bag file #38

Merged

mikaelarguedas merged commit 1f63668 into master Jun 6, 2019

mikaelarguedas deleted the gazebo branch June 6, 2019 13:23

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Gazebo support (draft) #19

Gazebo support (draft) #19

mikaelarguedas commented Apr 2, 2019 •

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mikaelarguedas commented Jun 6, 2019


		##### Simulating the robot in Gazebo

		Make sure to kill all the running nodes.

Gazebo support (draft) #19

Gazebo support (draft) #19

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