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allenh1 / p2os

P2OS ROS driver for Groovy and later.
http://wiki.ros.org/p2os-purdue
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Pioneer-3DX Gazebo Support #37

Closed allenh1 closed 7 years ago

allenh1 commented 9 years ago

There is a model, but no motion. I will be working on this for the next release.

dmiklic commented 7 years ago

I am currenly getting a crash with on Ubuntu 16.04 with ROS Kinetic, Gazebo 7 and pioneer3dx.gazebo.launch:

Error [Param.cc:451] Unable to set value [-nan -nan -nan] for key[size]
gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
Aborted (core dumped)

Can anyone confirm this behavior?

allenh1 commented 7 years ago

Hm... I will try this later. I have not done much with this... I will assume some protocol has since changed and completely broke the Gazebo support here.

As I am not very knowledgeable about Gazebo, I'm probably not the best person to look into this.

dmiklic commented 7 years ago

I can look into it, as I need this functionality. As I'm also new to Gazebo, it might take a while to get things right. For now, I have asked for help at Gazebo answers.

It would be helpful to know if this really is an issue affecting everyone, or just some bug in my local configuration.

allenh1 commented 7 years ago

Sounds good. Thank you very much!

By the way, there is a repo that holds a working copy of p2os gazebo, though I do not remember the name of it (as I frequently just use stage).

dmiklic commented 7 years ago

I have fixed the bug that was causing the crash, so now I can see and control the robot in Gazebo. There was also an issue with the <visual> tags due to this SDF bug that prevented material rendering in Gazebo, which has been fixed.

Before making a pull request I'd like to clean up the model some more and do some tests to make sure it behaves reasonably. You can follow the progress here:

https://github.com/larics/p2os/tree/bugfix-urdf-p3dx/p2os_urdf

allenh1 commented 7 years ago

Nice work! Thanks! I look forward to your PR.