agilexrobotics/ugv_gazebo_sim

gazebo_sim

AgileX Product Gazebo Simulate

Install the Gazebo software

Gazebo is a simulator. Gazebo simulates multiple robots in a 3D environment, with extensive dynamic interaction between objects.

http://gazebosim.org

Download and install gazebo you can go to the website :http://gazebosim.org/install

---

Current support Gazebo simulation product list

Product name	support status
SCOUT 1.0×	×
HUNTER 1.0	×
SCOUT 2.0	√
HUNTER 2.0	√
SCOUT MINI	√
SCOUT MINI(OMNI)	×
TRACER	√
RANGER MINI	√
LIMO	√

About usage

1. clone the current repositories to your own workspace
2. Go to you use product
3. Each independent chassis product has its own independent instructions in the corresponding file directory

Ranger mini v2

cd ranger_mini_V2/ranger_mini_v2/meshes/
unzip ranger_base.zip

ugv_gazebo_sim's Issues

odometry is not published

odometry is not published. Do I need to calculate directly from cmd_vel?

The scout2.0 doesn't move in RVIZ

I followed the steps here https://github.com/agilexrobotics/ugv_gazebo_sim/tree/master/scout and run
roslaunch scout_gazebo_sim scout_empty_world.launch
the model displays normally in gazebo and RVIZ.
When I run
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
the model can move normally in gazebo,but only the wheels rotate and the car doesn't move in RVIZ.
The screenshot is the result when I run roslaunch scout_gazebo_sim scout_empty_world.launch,and the video is the problem I described above.

video.mp4

Question about removal of ranger_mini

Not a bug, but just wonder why ranger_mini got removed from the repo? Any special reason?

Where is State_Publisher Node?

Trying to launch the Gazebo simulation for Hunter. Getting error:

ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in package path and permission is set to executable (chmod +x)

Do you know why I am getting this error? Where is the state_publisher node located in the downloaded git files?

Error of scout mini simulation model

Hey, thanks for your work firstly!
But when I run the latest version code, I found that there are some problems with the Scout mini model:

1. The X -axis direction of the model is the opposite of the orientation of the front.
2. After the model is loaded into Gazebo, the car body is upside down, the wheels are facing up, and the body is facing down.
   I hope you can fix this problem as soon as possible, which will help others learn by using the simulation environment.
   Thank you!

readme error

git clone https://github.com/agilexrobotics/ugv_sim/hunter.git ???

Lack of controller for hunter_se in humble environment

How can I control the hunter_se in humble and gazebo? The current project is missing hunter_se_control...

Please advise great thanks.

wescore::ScoutSkidSteer continues moving when no command is received

For safety reasons, most real-world robots and motor controllers will stop moving after a short timeout if no drive commands are received. The Scout gazebo sim is (understandably) simple, and does not implement this functionality.
We can implement this functionality ourselves, but this raises a question: what is the behavior of a real Scout rover?

ROS 2 for Gazebo sim Hunter 2.0

Is ROS2 gazebosim package out yet for hunter 2.0?

Ignition Gazebo (ROS2) support

Looking forward to ROS2 simulation support! Is there a timeline yet?

Is ranger_mini_v2 ranger_basegoing to be added?

Different between scout_skid_steer.cpp and gazebo_ros_skid_steer_drive.cpp

Hi, I noticed that there is a gazebo plugin defined by scout_skid_steer.cpp and gazebo_ros_skid_steer_drive.cpp is already given in ros-simulation.

Could you please introduce the difference between them? Can we just use gazebo_ros_skid_steer_drive instead?

Thanks!

The hunter moves towards the z axis, but not in a straight line

The hunter moves towards the z axis, but not in a straight line，Go back and forth, the trajectory is very different

I want to run the file roslaunch hunter2_gazebo hunter2_gazebo.launch. BUT Segmentation fault (core dumped)

I want to run the file roslaunch hunter2_gazebo hunter2_gazebo.launch. However, I encounter the following error message. What should I do?

[ WARN] [1711952264.279188363]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1711952264.625389479]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711952264.633736037]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1711952264.636500, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1711952264.695039022]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1711952264.696363759]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1711952265.005902, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1711952265.009533, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1711952266.819356, 0.000000]: Calling service /gazebo/spawn_urdf_model
Segmentation fault (core dumped)
Service call failed: unable to connect to service: [Errno 104] Connection reset by peer
[ERROR] [1711952267.888056, 0.000000]: Spawn service failed. Exiting.
[gazebo-2] process has died [pid 5196, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/rdv/hunter_ws/src/ugv_sim/hunter/hunter2_gazebo/world/house.world __name:=gazebo __log:=/home/rdv/.ros/log/8cfc836e-efef-11ee-a193-48210b336f4a/gazebo-2.log].
log file: /home/rdv/.ros/log/8cfc836e-efef-11ee-a193-48210b336f4a/gazebo-2*.log
[hunter_spawn-7] process has died [pid 5209, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -param robot_description -model hunter2_base -z 0.05 __name:=hunter_spawn __log:=/home/rdv/.ros/log/8cfc836e-efef-11ee-a193-48210b336f4a/hunter_spawn-7.log].
log file: /home/rdv/.ros/log/8cfc836e-efef-11ee-a193-48210b336f4a/hunter_spawn-7*.log

TRACER MINI [meshes folder] tire is not separated from the main body

Because the STL file of the main body and the tire are not separated, the robot in GAZEBO cannot be controlled.

When will the robot model files be updated?

Orientation issue of the Hunter URDF

Hello !
I'm currently working with your Hunter 2 mobile base and I think there is a problem with the orientation of the Hunter 2 mesh/URDF.
Indeed, the forward axis is the Y one but usually it's the X one instead (see picture below). Consequently, I have some issues with the consistency between Gazebo and RVIZ such as odometry computation on RVIZ.
I tried to rotate the URDF file around the Z axis but it reverses the left/right rotations with the Ackermann-ros-controller.

Did I make a mistake somewhere ? Otherwise, could you add/update the Hunter 2 mesh/URDF please ?

Best regards.

Minor issues in Scout README

• catkin_init_workspace is no longer needed.
• The "Download simulation model function package" step mentions git clone https://github.com/agilexrobotics/ugv_sim/scout.git
  , which does not exist.

Is bunker going to be added?

Looking for the URDF for Bunker while we are awaiting delivery :-)

Jazzy release?

Do you plan to upgrade your package to ROS2 - Jazzy Jalisco?
Unfortunately, the current version is not building due to the gazebo-ros2-control missing package, which is unavailable for ROS2 Jazzy.

Is bunker_mini going to be added?

Although I know that bunker_mini and bunker are similar, they are not the same.

hunter model not showing up at RVIZ

We follow the steps here https://github.com/agilexrobotics/ugv_gazebo_sim/tree/master/hunter
however the hunter model is not showing up (step 2 below).
the gazebo simulator is OK (step 3 below)

any ideas on how to make the hunter model show up?

thanks in advance

[NG] 2.Run the star file of hunter2.0 model and visualize the model in Rviz
​ Enter the hunter_ws folder

​ Run the start file of hunter2.0 and visualize the model in Rviz

roslaunch hunter2_base display_xacro.launch

hunter model not showing up at RVIZ

[OK] 3.Start the gazebo simulation environment of hunter2.0 and control hunter2.0 movement in the gazebo
​ Enter the hunter_ws folder

the Gazebo simulation is OK

Can tracks and wheels of the Bunker URDF rotate in rviz or gazebo?

Can tracks and wheels of the Bunker rotate in rviz or gazebo? Thanks!

`ranger/four_wheel_steering_controller` catkin build intermittently fails on first try

Not a big deal, because second try works, after source devel/setup.bash:

Scanning dependencies of target four_wheel_steering_controller
[ 94%] Building CXX object ugv_gazebo_sim/ranger/four_wheel_steering_controller/CMakeFiles/four_wheel_steering_controller.dir/src/four_wheel_steering_controller.cpp.o
In file included from /home/ubuntu/src/aris_ros_ws/src/ugv_gazebo_sim/ranger/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp:37:
/home/ubuntu/src/aris_ros_ws/src/ugv_gazebo_sim/ranger/four_wheel_steering_controller/include/four_wheel_steering_controller/four_wheel_steering_controller.h:44:10: fatal error: four_wheel_steering_msgs/FourWheelSteeringStamped.h: No such file or directory
   44 | #include <four_wheel_steering_msgs/FourWheelSteeringStamped.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [ugv_gazebo_sim/ranger/four_wheel_steering_controller/CMakeFiles/four_wheel_steering_controller.dir/build.make:63: ugv_gazebo_sim/ranger/four_wheel_steering_controller/CMakeFiles/four_wheel_steering_controller.dir/src/four_wheel_steering_controller.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:10194: ugv_gazebo_sim/ranger/four_wheel_steering_controller/CMakeFiles/four_wheel_steering_controller.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed

bunker dae file

Is bunker series dae going to be added?