Using gazebo-9 and actors

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

Hello everyone!
I would like to have in world moving platform and I use for it , but I see when I use sphinx it turns on in Gazebo version 7. My actor doesnt work and gives me an error:
[Err] [MeshManager.cc:95] Invalid mesh filename extension[default]
[Err] [Publisher.cc:100] Publishing an uninitialized message on topic[/gazebo/autoladowanie/model/info]. Required field [visual[0].name] missing.
How can I turn on sphinx based by gazebo-9 or how I can add to my world mobile object?

EDIT: In first part of this video is thing that I want to achive: https://www.youtube.com/watch?v=8UKbffH5HgM

2

Can you show us the content of your .world file? It looks like one of your models does not have a mesh assigned to one of its visual or collision parts. Note that if you are using a world created for Gazebo 9, it may not work with Gazebo 7. In particular, Gazebo 7 does not support the .obj format.

3

I make it by actor.

forum1
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I tried make simple animated box described in this site: Gazebo : Tutorial : Make an animated model (actor), but it gives me the same error.

But I also try make it by method described in this site:
Gazebo : Tutorial : Animated Box for version 6.0-7.0, to make simple box and it also doesn’t even open a simulator:

I telemetryd: sighandler: signo=15(Terminated)
I telemetryd: Exiting loop
I tlmblackbox: Closing file ‘./sphinx-11345-log.tlmb’
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-blackbox.so’
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-gndctrl.so’
I : [2018-11-12 11:18:37] [info] asio handle_accept error: asio.system:125 (Operation aborted.)
I : [2018-11-12 11:18:37] [info] Error getting remote endpoint: asio.system:9 (Bad file descriptor)
I : [2018-11-12 11:18:37] [info] asio async_shutdown error: asio.system:9 (Bad file descriptor)
I : [2018-11-12 11:18:37] [error] handle_accept error: Underlying Transport Error
I : [2018-11-12 11:18:37] [info] Stopping acceptance of new connections because the underlying transport is no longer listening.
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-web-gndctrl.so’

(Every method works when I open world file by gazebo command)

EDIT: I also would like to tell that when I add this mesh as a model, it appears in world from sphinx. Maybe it is a way how can I move object adding by ?

4

In Gazebo 7, you can’t have actors without a <skin> element and <actor> elements can only be used to create actors with a skeleton like that one:

      <actor name="actor">
         <skin>
            <filename>moonwalk.dae</filename>
            <scale>1.0</scale>
         </skin>
         <pose>0 0 0 0 0 0</pose>
         <animation name="walking">
            <filename>walk.dae</filename>
            <scale>1.000000</scale>
            <interpolate_x>true</interpolate_x>
         </animation>
         <script>
            <loop>true</loop>
            <delay_start>0.000000</delay_start>
            <auto_start>true</auto_start>
            <trajectory id="0" type="walking">
               <waypoint>
                  <time>0.000000</time>
                  <pose>0.000000 1.000000 0.000000 0.000000 0.000000 0.000000</pose>
               </waypoint>
               <waypoint>
                  <time>0.500000</time>
                  <pose>0.195090 0.980785 0.000000 0.000000 0.000000 -0.196350</pose>
               </waypoint>
               <waypoint>
                  <time>1.000000</time>
                  <pose>0.382683 0.923880 0.000000 0.000000 0.000000 -0.392699</pose>
               </waypoint>
               <waypoint>
                  <time>1.500000</time>
                  <pose>0.555570 0.831470 0.000000 0.000000 0.000000 -0.589049</pose>
               </waypoint>
               <waypoint>
                  <time>2.000000</time>
                  <pose>0.707107 0.707107 0.000000 0.000000 0.000000 -0.785398</pose>
               </waypoint>
               <waypoint>
                  <time>2.500000</time>
                  <pose>0.831470 0.555570 0.000000 0.000000 0.000000 -0.981748</pose>
               </waypoint>
               <waypoint>
                  <time>3.000000</time>
                  <pose>0.923880 0.382683 0.000000 0.000000 0.000000 -1.178100</pose>
               </waypoint>
               <waypoint>
                  <time>3.500000</time>
                  <pose>0.980785 0.195090 0.000000 0.000000 0.000000 -1.374450</pose>
               </waypoint>
               <waypoint>
                  <time>4.000000</time>
                  <pose>1.000000 0.000000 0.000000 0.000000 0.000000 -1.570800</pose>
               </waypoint>
               <waypoint>
                  <time>4.500000</time>
                  <pose>0.980785 -0.195090 0.000000 0.000000 0.000000 -1.767150</pose>
               </waypoint>
               <waypoint>
                  <time>5.000000</time>
                  <pose>0.923880 -0.382683 0.000000 0.000000 0.000000 -1.963500</pose>
               </waypoint>
               <waypoint>
                  <time>5.500000</time>
                  <pose>0.831470 -0.555570 0.000000 0.000000 0.000000 -2.159840</pose>
               </waypoint>
               <waypoint>
                  <time>6.000000</time>
                  <pose>0.707107 -0.707107 0.000000 0.000000 0.000000 -2.356190</pose>
               </waypoint>
               <waypoint>
                  <time>6.500000</time>
                  <pose>0.555570 -0.831470 0.000000 0.000000 0.000000 -2.552540</pose>
               </waypoint>
               <waypoint>
                  <time>7.500000</time>
                  <pose>0.382683 -0.923880 0.000000 0.000000 0.000000 -2.748890</pose>
               </waypoint>
               <waypoint>
                  <time>8.500000</time>
                  <pose>0.195090 -0.980785 0.000000 0.000000 0.000000 -2.945240</pose>
               </waypoint>
               <waypoint>
                  <time>9.500000</time>
                  <pose>0.000000 -1.000000 0.000000 0.000000 0.000000 -3.141590</pose>
               </waypoint>
               <waypoint>
                  <time>10.500000</time>
                  <pose>-0.195090 -0.980785 0.000000 0.000000 0.000000 2.945245</pose>
               </waypoint>
               <waypoint>
                  <time>11.500000</time>
                  <pose>-0.382683 -0.923880 0.000000 0.000000 0.000000 2.748895</pose>
               </waypoint>
               <waypoint>
                  <time>12.000000</time>
                  <pose>-0.555570 -0.831470 0.000000 0.000000 0.000000 2.552545</pose>
               </waypoint>
               <waypoint>
                  <time>12.500000</time>
                  <pose>-0.707107 -0.707107 0.000000 0.000000 0.000000 2.356195</pose>
               </waypoint>
               <waypoint>
                  <time>13.000000</time>
                  <pose>-0.831470 -0.555570 0.000000 0.000000 0.000000 2.159845</pose>
               </waypoint>
               <waypoint>
                  <time>13.500000</time>
                  <pose>-0.923880 -0.382683 0.000000 0.000000 0.000000 1.963495</pose>
               </waypoint>
               <waypoint>
                  <time>14.000000</time>
                  <pose>-0.980785 -0.195090 0.000000 0.000000 0.000000 1.767145</pose>
               </waypoint>
               <waypoint>
                  <time>14.500000</time>
                  <pose>-1.000000 0.000000 0.000000 0.000000 0.000000 1.570795</pose>
               </waypoint>
               <waypoint>
                  <time>15.000000</time>
                  <pose>-0.980785 0.195090 0.000000 0.000000 0.000000 1.374445</pose>
               </waypoint>
               <waypoint>
                  <time>15.500000</time>
                  <pose>-0.923880 0.382683 0.000000 0.000000 0.000000 1.178095</pose>
               </waypoint>
               <waypoint>
                  <time>16.000000</time>
                  <pose>-0.831470 0.555570 0.000000 0.000000 0.000000 0.981745</pose>
               </waypoint>
               <waypoint>
                  <time>16.500000</time>
                  <pose>-0.707107 0.707107 0.000000 0.000000 0.000000 0.785395</pose>
               </waypoint>
               <waypoint>
                  <time>17.000000</time>
                  <pose>-0.555570 0.831470 0.000000 0.000000 0.000000 0.589045</pose>
               </waypoint>
               <waypoint>
                  <time>17.500000</time>
                  <pose>-0.382683 0.923880 0.000000 0.000000 0.000000 0.392695</pose>
               </waypoint>
               <waypoint>
                  <time>18.000000</time>
                  <pose>-0.195090 0.980785 0.000000 0.000000 0.000000 0.196345</pose>
               </waypoint>
            </trajectory>
         </script>
      </actor>

For a moving platform, I would suggest following the tutorial at http://gazebosim.org/tutorials?cat=install&tut=animated_box&ver=6.0-7.0. It should work with sphinx if you compile the plugin with gazebo 7.0.

The trace does not contain any critical errors. Messages prefixed with “I” are there for information. Do you have more logs to share?

You also have to make sure that you launch sphinx with a .drone file like this:

GAZEBO_PLUGIN_PATH=`pwd`/build:$GAZEBO_PLUGIN_PATH sphinx --log-level=dbg animated_box.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2.drone::with_front_cam=false
5

Ok, I will try this as soon it will be possibile to me. Another question: why should I run bebop without front camera? When I used it ealier, everything works fine.
Thank you for response :slight_smile:

6

You can always run sphinx with a front camera if your machine supports it. I just disabled it in this example out of habit.

7

Everything works, thank you very much for your help!

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