• UC Merced

    My ideal UC Merced CSE Program: Freshman Year: Fall Semester: CSE 020 + CSE 021 as one class: Introduction to Programming … Spring Semester: CSE 165: Object Oriented Programming, C++, STL … Sophomore Year: Fall Semester: CSE 015: Discrete Mathematics, Probability CSE 030: Data Structures but more emphasis on run...

  • Gazebo ROS

    BACK: Plugins Gazebo plugins can also be registered as ROS nodes, but under rqt_graph, they will all be under the node ‘/gazebo.’ To interface to ROS, I had one plugin to handle all of the ROS communication and then take the data and send it within the same plugin, in...

  • Plugins

    BACK: Plugins Here’s an example code for handling the ModelPlugin. You can find the Gazebo API here. #include <functional> #include <gazebo/gazebo.hh> #include <gazebo/physics/physics.hh> #include <gazebo/common/common.hh> #include <ignition/math/Vector3.hh> namespace gazebo { class ModelPush : public ModelPlugin { public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) { // Store the pointer to the model...

  • Plugins Example

    BACK: Plugins Application I’ll comment the code more later on This tutorial requires a Velodyne Lidar model which you can download here In the gazebo_plugin_tutorial folder, go ahead and extract the velodyne_hdl32 folder there and make a new file: velodyne_plugin.cc: #ifndef _VELODYNE_PLUGIN_HH_ #define _VELODYNE_PLUGIN_HH_ #include <gazebo/gazebo.hh> #include <gazebo/physics/physics.hh> namespace gazebo...

  • Plugins

    BACK: Table of contents Gazebo plugins are C++ libraries that are loaded when gazebo is launched. It accesses Gazebo’s API and can move objects, add/remove, and access sensor data. I”m using Gazebo v7 for the projects I’m working on, and I didn’t need to but, install $ sudo apt install...

  • SDF

    BACK: Table of contents Given a Solidworks file, there is a plugin that exists where you can convert the file into an urdf file. After that, it’s much easier to use .sdf format (and Gazebo converts it under the hood anyway), so do the following: Place model package into catkin_ws...

  • Gazebo

    BACK: Table of contents Toolbar Select mode: Navigate in the scene Translate mode: Select models you want to move Rotate mode: Select models you want to rotate Scale mode: Select models you want to scale Undo/Redo: Undo/redo actions in the scene Simple shapes: Insert simple shapes into the scene Lights:...

  • Gazebo

    BACK: Navigation This is the attempt to make understanding how to use Gazebo more painless. As always, see the actual tutorials for additional help. All pictures are from the actual gazebo tutorials. I’m going to assume Gazebo is already installed. It should come with ROS. Gazebo GUI Creating Models Advanced...