yoshito-n-students/gazebo_continuous_track_example

How to use a realtime simulation of continuous tracks for Gazebo 7 & 9

gazebo_continuous_track_example's Issues

gzserver crashes on loading plugin

以前ROSConJP会場で相談していたプラグインロード時にgzserverが落ちる問題ですが，Melodic + Gazebo 9.11.0でも発生しました．Kinetic + Gazebo 7.16.0でも同じ問題が発生しています．

と言っても「落ちる」以外のデバッグに使えそうな情報が今のところないので，とりあえずIssueだけ立てておきます．．．

環境

• Kinetic + Gazebo 7.16.0
• Melodic + Gazebo 9.11.0
• yoshito-n-students/gazebo_continuous_track@20ccbaa
• f38ff43

$ roslaunch gazebo_continuous_track_example example_track_simple_wheels_world.launch
... logging to /home/naoki/.ros/log/283ac4b0-ea2f-11e9-b48d-4ce676153c4f/roslaunch-diginnos-20734.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://diginnos:42877/

SUMMARY
========

PARAMETERS
 * /example_track_simple_wheels/joint_state_controller/publish_rate: 10
 * /example_track_simple_wheels/joint_state_controller/type: joint_state_contr...
 * /example_track_simple_wheels/robot_description: <?xml version="1....
 * /example_track_simple_wheels/robot_state_publisher/tf_prefix: example_track
 * /example_track_simple_wheels/sprocket_velocity_controller/joint: sprocket_axle
 * /example_track_simple_wheels/sprocket_velocity_controller/type: velocity_controll...
 * /gazebo/enable_ros_network: True
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /example_track_simple_wheels/
    controller_starter (controller_manager/controller_manager)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [21116]
process[gazebo_gui-2]: started with pid [21121]
process[example_track_simple_wheels/controller_starter-3]: started with pid [21127]
process[example_track_simple_wheels/robot_state_publisher-4]: started with pid [21128]
[ WARN] [/example_track_simple_wheels/robot_state_publisher] [1570603741.150229699]: The root link body 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] [/gazebo] [1570603741.515859279]: Finished loading Gazebo ROS API Plugin.
[ INFO] [/gazebo] [1570603741.516433838]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [/gazebo_gui] [1570603741.582580862]: Finished loading Gazebo ROS API Plugin.
[ INFO] [/gazebo_gui] [1570603741.583202622]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
Segmentation fault (core dumped)
[gazebo-1] process has died [pid 21116, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u -e ode /home/naoki/ros/workspaces/melodic/tmp/src/gazebo_continuous_track_example/world/example_track_simple_wheels.world __name:=gazebo __log:=/home/naoki/.ros/log/283ac4b0-ea2f-11e9-b48d-4ce676153c4f/gazebo-1.log].
log file: /home/naoki/.ros/log/283ac4b0-ea2f-11e9-b48d-4ce676153c4f/gazebo-1*.log

IMU noise problem of the track model

When i attached a IMU to the model in Gazebo9.0 (Ubuntu18.04), the ouput of IMU fluctuated in Z axis.

As shown in the graph, the amplitude of flucation is larger than accelDrift. I has been wondering what's the problem. Could you kindly provide a method to solve this problem? The urdf i used is "gazebo_continuous_track_example)/urdf/example_track_gazebo.urdf". The code i added is listed as following:

`

<joint name="imu_joint" type="fixed">
    <origin xyz="0 0 0.3" rpy="0 0 0" />
    <parent link="body" />
    <child link="imu_link" />
</joint>
<gazebo reference="imu_link">
    <material>Gazebo/Red</material>
</gazebo>

  <!-- Gazebo imu controller -->
<gazebo>
    <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
        <robotNamespace>/</robotNamespace>
        <updateRate>50.0</updateRate>
        <bodyName>body</bodyName>
        <topicName>imu/data</topicName>
        <accelDrift>0.005 0.005 0.005</accelDrift>
        <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
        <rateDrift>0.005 0.005 0.005 </rateDrift>
        <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
        <headingDrift>0.005</headingDrift>
        <headingGaussianNoise>0.005</headingGaussianNoise>
    </plugin>
</gazebo>

`