Hello, It is my code, the problem is that i get a error runnig this example, but, if i change in hinge2 in the model robot body1 whith body 2 it wokrs but in bad confuguration, someone could help me?
world: <?xml version="1.0"?> <gazebo:world xmlns:xi="http://www.w3.org/2001/XInclude"; xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"; xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"; xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"; xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"; xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; > <verbosity>5</verbosity> <physics:ode> <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> <erp>0.3</erp> </physics:ode> <rendering:gui> <type>fltk</type> <size>800 600</size> <pos>0 0</pos> <xyz>0 0 0</xyz> <rpy>0 0 0</rpy> </rendering:gui> <rendering:ogre> <ambient>0.5 0.5 0.5 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> </rendering:ogre> <!-- <model:physical name="terrain_model"> <body:heightmap name ="terrain_body"> <geom:heightmap name="terrain_geom"> <image>terrain.png</image> <worldTexture>terrain_texture.jpg</worldTexture> <detailTexture>terrain_detail.jpg</detailTexture> <size>17 17 1</size> </geom:heightmap> </body:heightmap> </model:physical> --> <!-- Ground Plane --> <model:physical name="plane1_model"> <xyz>0 0 0</xyz> <rpy>0 0 0</rpy> <static>true</static> <body:plane name="plane1_body"> <geom:plane name="plane1_geom"> <normal>0 0 1</normal> <size>2000 2000</size> <segments>10 10</segments> <uvTile>1000 1000</uvTile> <material>Gazebo/Terran</material> </geom:plane> </body:plane> </model:physical> <model:physical name="obstaculo"> <xyz>3.0 0.0 0.5</xyz> <rpy>0.0 0.0 0.0</rpy> <body:plane name="obstaculo"> <geom:box name="obstaculo_geom"> <size>0.5 0.5 0.5</size> <mass>1.0</mass> <visual> <size>0.5 0.5 0.5</size> <mesh>unit_box</mesh> <material>Gazebo/Rockwall</material> </visual> </geom:box> </body:plane> </model:physical> <model:physical name="sphere1_model"> <xyz>3 3 0.5</xyz> <static>false</static> <body:sphere name="sphere1_body"> <geom:sphere name="sphere1_geom"> <size>0.2</size> <mass>1.0</mass> <visual> <scale>0.2 0.2 0.2</scale> <material>Gazebo/BumpyMetal</material> <mesh>unit_sphere</mesh> </visual> </geom:sphere> </body:sphere> </model:physical> <!-- Include the complete model described in the .model file This assumes the root node is a <model:...> --> <!-- <include embedded="false"> <xi:include href="pioneer2dx.model" /> </include> --> <model:physical name="lince_model"> <xyz>0.00 0.00 0.00</xyz> <rpy>0 0 0</rpy> <controller:steering_position2d name="a car"> <wheel> <joint>rear_left_wheel_hinge</joint> <type>drive</type> <torque>10</torque> </wheel> <wheel> <joint>rear_right_wheel_hinge</joint> <type>drive</type> <torque>10</torque> </wheel> <wheel> <joint>front_left_wheel_hinge</joint> <type>steer</type> <torque>0</torque> <steerTorque>1</steerTorque> </wheel> <wheel> <joint>front_right_wheel_hinge</joint> <type>steer</type> <torque>0</torque> <steerTorque>1</steerTorque> </wheel> <steerPD>10 0.0</steerPD> <!-- Henrik params start --> <leftOdomJoint>front_left_wheel_hinge</leftOdomJoint> <rightOdomJoint>front_right_wheel_hinge</rightOdomJoint> <odomWheelSeparation>0.2</odomWheelSeparation> <odomWheelDiameter>0.15</odomWheelDiameter> <leftSteeringOdomJoint>front_left_wheel_hinge</leftSteeringOdomJoint> <rightSteeringOdomJoint>front_right_wheel_hinge</rightSteeringOdomJoint> <!-- Henrik params stop --> <interface:position name="position_iface_0"/> <!-- Henrik params start --> <interface:actarray name="wheels_actarray_iface"/> <!-- Henrik params stop --> </controller:steering_position2d> <!-- <model:physical name="sonyvid30_model"> <xyz>0.0 0.0 0.30</xyz> <attach> <parentBody>chassis_body</parentBody> <myBody>sonyvid30_body</myBody> </attach> <include embedded="true"> <xi:include href="/home/renato/Desktop/LINCE_PG/models/sonyvid30.model" /> </include> </model:physical> --> <model:physical name="laser"> <xyz>0.22 0.0 0.15</xyz> <attach> <parentBody>chassis_body</parentBody> <myBody>laser_body</myBody> </attach> <include embedded="true"> <xi:include href="models/hokuyo.model"/> </include> </model:physical> <include embedded="true"> <xi:include href="models/lince.model"/> </include> </model:physical> <!-- White Directional light --> <model:renderable name="directional_white"> <light> <type>directional</type> <direction>0 -0.8 -0.3</direction> <diffuseColor>0.9 0.9 0.9</diffuseColor> <specularColor>0.0 0.0 0.0</specularColor> <attenuation>10 0.0 1.0 0.4</attenuation> </light> </model:renderable> </gazebo:world> model: <?xml version="1.0"?> <!-- Generic Car Model --> <model:physical name="default_lince_model" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; xmlns:visual="http://playerstage.sourceforge.net/gazebo/xmlschema/#visual"; > <xyz>0.0 0.0 0.0</xyz> <rpy>0.0 0.0 0.0</rpy> <canonicalBody>chassis_body</canonicalBody> <body:box name="chassis_body"> <geom:box name="chassis_baixo"> <xyz>0 0 0.05</xyz> <rpy>0 0 0</rpy> <size>0.3 0.1 0.1</size> <mass>1.0</mass> <visual> <size>0.3 0.1 0.1</size> <mesh>unit_box</mesh> <material>Gazebo/White</material> </visual> </geom:box> <geom:box name="chassis_cima"> <xyz>0 0 0.125</xyz> <rpy>0 0 0</rpy> <size>0.5 0.15 0.05</size> <mass>0.5</mass> <visual> <size>0.5 0.15 0.05</size> <mesh>unit_box</mesh> <material>Gazebo/White</material> </visual> </geom:box> <geom:box name="base"> <xyz>0 0 0.155</xyz> <rpy>0 0 0</rpy> <size>0.50 0.30 0.01</size> <mass>1</mass> <visual> <size>0.50 0.30 0.01</size> <mesh>unit_box</mesh> <material>Gazebo/Black</material> </visual> </geom:box> <geom:box name="pc"> <xyz>-0.025 0.0 0.2</xyz> <rpy>0 0 0</rpy> <size>0.20 0.25 0.08</size> <mass>1</mass> <visual> <size>0.20 0.25 0.08</size> <mesh>unit_box</mesh> <material>Gazebo/Black</material> </visual> </geom:box> </body:box> <body:cylinder name="rear_left_wheel"> <xyz>-0.17 -0.15 0</xyz> <rpy>0 90 90</rpy> <geom:cylinder name="rear_left_wheel_geom"> <size>0.075 0.075</size> <mass>0.2</mass> <mu1>0.2</mu1> <visual> <rpy>90 0 0</rpy> <size>0.17 0.1 0.17</size> <mesh>Pioneer2dx/tire.mesh</mesh> <material>Gazebo/Black</material> </visual> <visual> <rpy>90 0 0</rpy> <size>0.073 0.05 0.073</size> <mesh>Pioneer2at/wheel.mesh</mesh> <material>Gazebo/Gold</material> </visual> <visual> <rpy>0 0 0</rpy> <xyz>0 0 0.015</xyz> <size>0.04 0.04 0.08 </size> <mesh>unit_cylinder</mesh> <material>Gazebo/Black</material> </visual> </geom:cylinder> </body:cylinder> <body:cylinder name="front_left_wheel"> <xyz>0.17 -0.15 0</xyz> <rpy>0 90 90</rpy> <geom:cylinder name="front_left_wheel_geom"> <size>0.075 0.075</size> <mass>0.2</mass> <mu1>0.2</mu1> <visual> <rpy>-90 0 0</rpy> <size>0.17 0.1 0.17</size> <mesh>Pioneer2dx/tire.mesh</mesh> <material>Gazebo/Black</material> </visual> <visual> <rpy>-90 0 0</rpy> <size>0.073 0.05 0.073</size> <mesh>Pioneer2at/wheel.mesh</mesh> <material>Gazebo/Gold</material> </visual> <visual> <rpy>0 0 0</rpy> <xyz>0 0 0.015</xyz> <size>0.04 0.04 0.08 </size> <mesh>unit_cylinder</mesh> <material>Gazebo/Black</material> </visual> </geom:cylinder> </body:cylinder> <body:cylinder name="rear_right_wheel"> <xyz>-0.17 0.15 0</xyz> <rpy>0 90 90</rpy> <geom:cylinder name="rear_right_wheel_geom"> <size>0.075 0.075</size> <mass>0.2</mass> <mu1>0.2</mu1> <visual> <rpy>-90 0 0</rpy> <size>0.17 0.1 0.17</size> <mesh>Pioneer2dx/tire.mesh</mesh> <material>Gazebo/Black</material> </visual> <visual> <rpy>-90 0 0</rpy> <size>0.073 0.05 0.073</size> <mesh>Pioneer2at/wheel.mesh</mesh> <material>Gazebo/Gold</material> </visual> <visual> <rpy>0 0 0</rpy> <xyz>0 0 0.015</xyz> <size>0.04 0.04 0.08 </size> <mesh>unit_cylinder</mesh> <material>Gazebo/Black</material> </visual> </geom:cylinder> </body:cylinder> <body:cylinder name="front_right_wheel"> <xyz>0.17 0.15 0</xyz> <rpy>0 90 90</rpy> <geom:cylinder name="front_right_wheel_geom"> <size>0.075 0.075</size> <mass>0.2</mass> <mu1>0.2</mu1> <visual> <rpy>90 0 0</rpy> <size>0.17 0.1 0.17</size> <mesh>Pioneer2dx/tire.mesh</mesh> <material>Gazebo/Black</material> </visual> <visual> <rpy>90 0 0</rpy> <size>0.073 0.05 0.073</size> <mesh>Pioneer2at/wheel.mesh</mesh> <material>Gazebo/Gold</material> </visual> <visual> <rpy>0 0 0</rpy> <xyz>0 0 0.015</xyz> <size>0.04 0.04 0.08 </size> <mesh>unit_cylinder</mesh> <material>Gazebo/Black</material> </visual> </geom:cylinder> </body:cylinder> <joint:hinge2 name="front_left_wheel_hinge"> <body2>chassis_body</body2> <body1>front_left_wheel</body1> <anchor>front_left_wheel</anchor> <anchorOffset>0 0.005 0</anchorOffset> <axis1>0 0 1</axis1> <axis2>0 1 0</axis2> <lowStop1>-30</lowStop1> <highStop1>30</highStop1> <lowStop2>0</lowStop2> <highStop2>0</highStop2> <erp>0.8</erp> <cfm>10e-5</cfm> </joint:hinge2> <joint:hinge2 name="front_right_wheel_hinge"> <body2>chassis_body</body2> <body1>front_right_wheel</body1> <anchor>front_right_wheel</anchor> <anchorOffset>0 -0.005 0</anchorOffset> <axis1>0 0 1</axis1> <axis2>0 1 0</axis2> <lowStop1>-30</lowStop1> <highStop1>30</highStop1> <lowStop2>0</lowStop2> <highStop2>0</highStop2> <erp>0.8</erp> <cfm>10e-5</cfm> </joint:hinge2> <joint:hinge name="rear_right_wheel_hinge"> <body2>chassis_body</body2> <body1>rear_right_wheel</body1> <anchor>rear_right_wheel</anchor> <anchorOffset>0 0.05 0</anchorOffset> <axis>0 1 0</axis> <erp>0.8</erp> <cfm>0.1</cfm> </joint:hinge> <joint:hinge name="rear_left_wheel_hinge"> <body2>chassis_body</body2> <body1>rear_left_wheel</body1> <anchor>rear_left_wheel</anchor> <anchorOffset>0 0.005 0</anchorOffset> <axis>0 1 0</axis> <erp>0.8</erp> <cfm>0.1</cfm> </joint:hinge> </model:physical> -- View this message in context: http://www.nabble.com/Controler-Steer_Position2d-and-Hinge2-tp23623406p23623406.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Register Now for Creativity and Technology (CaT), June 3rd, NYC. 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