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About gazebo-Cosimulation problems

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bo zhang
bo zhang 2022-6-19
评论： Roberto 2024-6-22
i running there commands
cd /home/user/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/user/worlds/Ur10BasicWithPlugin.world --verbose
have some problems!
my Ur10BasicWithPlugin.world
<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<contact>
<collide_bitmask>65535</collide_bitmask>
<ode/>
</contact>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<physics name='default_physics' default='0' type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<wind/>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='robot'>
<link name='base_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.00610633</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00610633</iyy>
<iyz>0</iyz>
<izz>0.01125</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/base.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/base.dae</uri>
</mesh>
</geometry>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='world_joint' type='fixed'>
<child>base_link</child>
<parent>world</parent>
</joint>
<link name='shoulder_link'>
<pose frame=''>0 0 0.1273 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>7.778</mass>
<inertia>
<ixx>0.0314743</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0314743</iyy>
<iyz>0</iyz>
<izz>0.0218756</izz>
</inertia>
</inertial>
<collision name='shoulder_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/shoulder.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='shoulder_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/shoulder.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='shoulder_pan_joint' type='revolute'>
<child>shoulder_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='upper_arm_link'>
<pose frame=''>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=''>0 -0.045 0.306 0 -0 0</pose>
<mass>12.93</mass>
<inertia>
<ixx>0.421754</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.421754</iyy>
<iyz>0</iyz>
<izz>0.0363656</izz>
</inertia>
</inertial>
<collision name='upper_arm_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/upperarm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='upper_arm_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/upperarm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='shoulder_lift_joint' type='revolute'>
<child>upper_arm_link</child>
<parent>shoulder_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>330</effort>
<velocity>2.16</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='forearm_link'>
<pose frame=''>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.28615 0 -0 0</pose>
<mass>3.87</mass>
<inertia>
<ixx>0.11107</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.11107</iyy>
<iyz>0</iyz>
<izz>0.0108844</izz>
</inertia>
</inertial>
<collision name='forearm_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/forearm.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='forearm_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/forearm.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='elbow_joint' type='revolute'>
<child>forearm_link</child>
<parent>upper_arm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-3.14159</lower>
<upper>3.14159</upper>
<effort>150</effort>
<velocity>3.15</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='wrist_1_link'>
<pose frame=''>1.1843 0.049041 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0.1149 0 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name='wrist_1_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist1.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='wrist_1_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist1.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='wrist_1_joint' type='revolute'>
<child>wrist_1_link</child>
<parent>forearm_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='wrist_2_link'>
<pose frame=''>1.1843 0.163941 0.1273 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.1157 0 -0 0</pose>
<mass>1.96</mass>
<inertia>
<ixx>0.00510825</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00510825</iyy>
<iyz>0</iyz>
<izz>0.0055125</izz>
</inertia>
</inertial>
<collision name='wrist_2_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist2.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='wrist_2_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist2.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='wrist_2_joint' type='revolute'>
<child>wrist_2_link</child>
<parent>wrist_1_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='wrist_3_link'>
<pose frame=''>1.1843 0.163941 0.0116 3.14159 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0.07695 0 1.5708 -0 0</pose>
<mass>0.202</mass>
<inertia>
<ixx>0.000117922</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000117922</iyy>
<iyz>0</iyz>
<izz>0.000204525</izz>
</inertia>
</inertial>
<collision name='wrist_3_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/collision/wrist3.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<collision name='wrist_3_link_fixed_joint_lump__ee_link_collision_1'>
<pose frame=''>-0 0.0822 0 0 -0 1.5708</pose>
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='wrist_3_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/zhangbo/catkin_ws/src/universal_robot/ur_description/meshes/ur10/visual/wrist3.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>__default__</uri>
<name>__default__</name>
</script>
</material>
</visual>
<velocity_decay/>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>1</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
<joint name='wrist_3_joint' type='revolute'>
<child>wrist_3_link</child>
<parent>wrist_2_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-6.28319</lower>
<upper>6.28319</upper>
<effort>54</effort>
<velocity>3.2</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<static>0</static>
<plugin name='ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/</robotNamespace>
</plugin>
<pose frame=''>0 0 0.1 0 -0 0</pose>
</model>
<state world_name='default'>
<sim_time>276 385000000</sim_time>
<real_time>279 318272940</real_time>
<wall_time>1655637837 737929799</wall_time>
<iterations>276385</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='robot'>
<pose frame=''>0 0 0.1 4.9e-05 -0.000225 -0</pose>
<scale>1 1 1</scale>
<link name='base_link'>
<pose frame=''>0 0 0.1 4.9e-05 -0.000225 -0</pose>
<velocity>0 -0 0 0 -0 0</velocity>
<acceleration>0 -0 0 0 -0 0</acceleration>
<wrench>0 -0 0 0 -0 0</wrench>
</link>
<link name='forearm_link'>
<pose frame=''>0.611968 0.048722 0.221459 -3.12712 1.56111 -3.12763</pose>
<velocity>-0.000156 -0.000125 -0.017466 1.5e-05 0.029121 -0.000204</velocity>
<acceleration>-0 0 -0 -5e-06 0 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name='shoulder_link'>
<pose frame=''>-2.9e-05 -7e-06 0.227299 -0.000104 0.00048 -0.000507</pose>
<velocity>-0 -0 -0 -0 -0 -0.000199</velocity>
<acceleration>-0 -0 -0 0 -0 0</acceleration>
<wrench>-0 -0 -0 0 -0 0</wrench>
</link>
<link name='upper_arm_link'>
<pose frame=''>8.3e-05 0.220934 0.227261 -3.12547 1.56128 -3.12597</pose>
<velocity>4.4e-05 -0 -0 1.4e-05 0.02854 -0.000204</velocity>
<acceleration>-0 -0 -0 -6e-06 0 0</acceleration>
<wrench>-0 -0 -3e-06 0 -0 0</wrench>
</link>
<link name='wrist_1_link'>
<pose frame=''>1.18424 0.048431 0.215911 -3.14145 -0.010088 3.14108</pose>
<velocity>-0.000318 -0.000241 -0.034131 1.5e-05 0.030466 -0.000204</velocity>
<acceleration>-0 0 -1e-06 0 1e-06 0</acceleration>
<wrench>-0 0 -1e-06 0 -0 0</wrench>
</link>
<link name='wrist_2_link'>
<pose frame=''>1.1843 0.16333 0.215893 -3.14144 -0.010089 3.14109</pose>
<velocity>-0.000295 -0.000241 -0.034131 1.6e-05 0.030466 -0.000172</velocity>
<acceleration>1e-06 -0 -1e-06 0 -1e-06 0</acceleration>
<wrench>1e-06 -0 -1e-06 0 -0 0</wrench>
</link>
<link name='wrist_3_link'>
<pose frame=''>1.18313 0.163313 0.100192 -3.14146 -0.010125 3.14109</pose>
<velocity>-0.00382 -0.000239 -0.034095 1.6e-05 0.030523 -0.000172</velocity>
<acceleration>1e-06 -0 2.3e-05 -6e-06 1e-06 -6e-06</acceleration>
<wrench>0 -0 5e-06 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>5 -5 2 0 0.275643 2.35619</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
<plugin name="GazeboPlugin" filename="lib/libGazeboCoSimPlugin.so"><portNumber>14581</portNumber></plugin>
</world>
</sdf>
my .so file
i have some question
how to build my Ur10BasicWithPlugin.world
how to solve the problem of terminal display

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采纳的回答

Gaurav Bhosale
Gaurav Bhosale 2022-7-1
Hi Bo,
I checked your Ur10BasicWithPlugin.world file.
Your world file contains dependecy on ROS plugin.
<plugin name='ros_control' filename='libgazebo_ros_control.so'>
<robotNamespace>/</robotNamespace>
</plugin>
Also, the message from Ubuntu terminal suggest that you need to initialize ROS.
So, I think, you might be missing ROS workflow.
Thanks.

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Gaurav Bhosale
Gaurav Bhosale 2022-6-28
Hi bo,
From the world file, I can see, username is "zhangbo"
So, in that case, the correct command should be,
cd /home/zhangbo/src/GazeboPlugin/export
export SVGA_VGPU10=0
gazebo /home/zhangbo/worlds/Ur10BasicWithPlugin.world --verbose
Also, you can export plugin path as follow,
export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/zhangbo/src/GazeboPlugin/export
Thanks
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PUCHEN ZHU
PUCHEN ZHU 2022-7-22
It's the same, how to solve it? Please let me know if you figure it out. Thank you.
Roberto
Roberto 2024-6-22
This error appeared to me too, I solved it changing the <sdf version="1.4"> from the world file to "1.6".

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