Discussion - Upgrading projects to New Gazebo

Articulated Robotics Content Discussions
#1

This is the discussion topic for the video linked above. Please keep all replies relevant to the content, otherwise create a new topic.

#2

Thanks a lot ;), sir if you can share a tutorial for using bluetooth control with ros2 jazzy using phone for diff drive and athor tutorial for 4WD robot and thanks

#3

Hello, was trying to learn ros and gazebo for like 2 months but it was too hard to understand, other tutorials didn’t help much.

But your videos was excellent and it made me learn it with passion. And i see all those cool hardwares you use and it makes me kinda jealous that im not able to use them lol. But jokes aside you are the best youtuber i ever came across and i really hope i be like you when i grow up.

One small request, i see you use ros_control.xacro to control the actuators at hardware interface through topics, that mean you are using predefined nodes right? Itd be really helpful if you make a video explaining how to control bot using custom ros nodes. Cause i’m a cse engineer and I’d really want to check various implementation of route planning algorithms and etc like that, but now i have to just use predefined node, how cool itd be if i had chance to process the incoming images and then make my autonomous car move based on my algorithm… please consider making this video, I really beg you to make this video. Thanks alot! Keep winning!! Love from India.

#4

Hello,
I was following your Nav2 control tutorials from the beginning and managed to make robot work in its world perfectly. Then Gazebo classic expired!. So I followed your tutorial on upgrading to gazebo sim. the world launches, but the RVIZ does not read the generated SLAM map anymore. Means none of my work is doing its thing anymore and I really don’t want to go from the beginning. Did you also have to generate the SLAM again after upgrading gazebo?

#5

Hello community, I have a problem that I’m stuck on for several days. In the Classic Gazebo I had Model Plugins to be able to describe structures in parallel (Chains of closed links) since the urdf files do not support this type of structure due to their tree characteristic. I have searched for information on how to implement Model Plugins in Gazebo Harmonic / ROS2 Jazzy. If you have information on how I can do it or any alternative to implement structures in parallel it would be very helpful.

#6

Firstly I have really been enjoying these tutorials - so thanks so much for doing them.

I don’t know if I am too late to ask questions about the upgrade to the new Gazebo.

I have pulled down Josh’s /new_gazebo branch and been running it and following along with the video tutorial but I am hitting a couple of issues that have me scratching my head.

Let me start with the first one - Keyboard/Gamepad control of the robot.

I either don’t understand the wiring or there is a bug. Looking at the topics for and how they are mapped in and out of Gazebo I can’t see how the existing set up gets the various //cmd_vel topics connected.

The joystick_launch.py has

    teleop_node = Node(
            package='teleop_twist_joy',
            executable='teleop_node',
            name='teleop_node',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            remappings=[('/cmd_vel','/cmd_vel_joy')]
         )

which IIUC (and from echoing ros2 topics) is publishing the Gamepad to /cmd_vel_joy, but that topic doesn’t seem to be getting bridge or muxed into any topic that get bridged into Gazebo.

I found that I needed to change this to

    teleop_node = Node(
            package='teleop_twist_joy',
            executable='teleop_node',
            name='teleop_node',
            parameters=[joy_params, {'use_sim_time': use_sim_time}],
            remappings=[('/cmd_vel','/diff_cont/cmd_vel_unstamped')]
         )

to get the Gamepad input into Gazebo.

Similarly to use the keyboard I needed to configure the teleop_twist_keyboard for the same topic.

os2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/diff_cont/cmd_vel_unstamped

Am I on the right track here - I am thinking that maybe the latest on the branch which is both a Jazzy and a new Gazebo update has lost some of the expected topic muxing and wiring along the way.

Anyone else hitting issues getting things working?

Thks, J

#7

Hello, has any one tried the upgrade for intel realsense camera to work in the new gazebo. I can’t find a way doing it