Q: Need information on aerodynamic parameters of lift-drag plugin A: You have to calculate the area for the new shapes and also decide the axis for the front and upwards forces.
Q: I created a custom gazebo world for my turtleBot containing several walls and saved it as a .world file. However when I run the world file the walls that i created do not load.
A: Here you can see a simple example of how to launch a simple Gazebo world with a wall in it.
When developing for ROS, you will have to create the URDF of your robot. If your robot is complex and contains lots of different joints, you would like to test how is it going and if you are building the model properly. Here we provide you with a method to check the status of your robot URDF model.
You have to create the URDF, add the ros control plugin, and include a config file to configure the plugin. Let’s see how to do it step-by-step:
Step 0. Create a project in ROS Development Studio(ROSDS)
ROSDS helps you follow our tutorial in a fast pace without dealing without setting up an environment locally. If you haven’t had an account yet, you can create a free account here. Please create a ROSject then open it.
Step 1. Create a URDF model
At first, let’s create a package for our code.
cd ~/catkin_ws/src
catkin_create_pkg simple_example_description ropy
cd simple_example_dexcription
mkdir launch
mkdir config
mkdir urdf
Then we create a URDF description called robot.urdf under the urdf folder with the following content
For each link, there are 3 parts: inertia define the physical property of the link, the collision part define the behavior while collision occurs, and the visual part define the visualization of the link in the simulation.
Since we also want to control the robot, we have to include the gazebo plugin and define the type of the transmission.
Then we also need a config.yaml file under the config folder for the parameter of the controller with the following content.
Learn the method that is revolutionizing the way new labs’ members are trained on ROS fast with no hassle. Already used by many Universities and companies.
DESCRIPTION
Even if we would like to, engineering students do not receive proper ROS training during their undergraduate period.
This is a problem when students get engaged in the development of the Msc Thesis inside one of the labs of the University, or want to start their Ph.D. The students must dedicate a long time to get up to speed in ROS, before they can really use the code that is there already.
Typical option for the lab is to provide to the student with a computer, and a link to the ROS Wiki tutorials. Hence the student will pass the days and weeks trying to get the most of it.
In this one-hour webinar, we will show how to smooth the learning path for your interns in order to maximize their learning speed.
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Laboratory staffs who may need to equip their fellows or train their new lab’s member on ROS.
![[ROS Q&A] 074 – Aerodynamic parameters of lift-drag plugin part2](https://www.theconstruct.ai/wp-content/uploads/2017/12/Aerodynamic-parameters-of-lift-drag-plugin-part2-screen.png)
![[ROS Q&A] 073 – How to add a simple wall to a Gazebo world](https://www.theconstruct.ai/wp-content/uploads/2017/12/How-to-add-a-simple-wall-to-a-Gazebo-world-screen.png)
![[ROS Q&A] 072 – How to check your complex URDF](https://www.theconstruct.ai/wp-content/uploads/2017/12/How-to-check-your-complex-URDF-screen.png)
![[ROS Q&A] 071 – How to use ApproximateTimeSynchronizer in Python](https://www.theconstruct.ai/wp-content/uploads/2017/12/How-to-use-ApproximateTimeSynchronizer-in-Python-screen.png)
![[ROS Q&A] 070 – Moving Joints in Gazebo Simple Example](https://www.theconstruct.ai/wp-content/uploads/2017/11/Moving-Joints-in-Gazebo-Simple-Example-screen.png)
