Revision: 8324
http://playerstage.svn.sourceforge.net/playerstage/?rev=8324&view=rev
Author: natepak
Date: 2009-10-21 23:45:08 +0000 (Wed, 21 Oct 2009)
Log Message:
-----------
Improved the multiray shape
Modified Paths:
--------------
code/gazebo/branches/bullet2/server/controllers/CMakeLists.txt
code/gazebo/branches/bullet2/server/physics/Body.cc
code/gazebo/branches/bullet2/server/physics/MultiRayShape.cc
code/gazebo/branches/bullet2/server/physics/MultiRayShape.hh
code/gazebo/branches/bullet2/server/physics/RayShape.cc
code/gazebo/branches/bullet2/server/physics/RayShape.hh
code/gazebo/branches/bullet2/server/physics/bullet/BulletGeom.cc
code/gazebo/branches/bullet2/server/physics/ode/ODEGeom.cc
code/gazebo/branches/bullet2/server/physics/ode/ODEMultiRayShape.cc
code/gazebo/branches/bullet2/server/rendering/OgreAdaptor.cc
code/gazebo/branches/bullet2/server/rendering/OgreVisual.cc
code/gazebo/branches/bullet2/server/sensors/CMakeLists.txt
code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.cc
code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.hh
code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.cc
code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.hh
code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.cc
code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.hh
code/gazebo/branches/bullet2/worlds/pioneer2dx.world
Modified: code/gazebo/branches/bullet2/server/controllers/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet2/server/controllers/CMakeLists.txt
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/controllers/CMakeLists.txt
2009-10-21 23:45:08 UTC (rev 8324)
@@ -6,7 +6,7 @@
#ADD_SUBDIRECTORY(gripper)
#ADD_SUBDIRECTORY(imu)
#ADD_SUBDIRECTORY(irarray)
-#ADD_SUBDIRECTORY(laser)
+ADD_SUBDIRECTORY(laser)
#ADD_SUBDIRECTORY(opaque)
#ADD_SUBDIRECTORY(position2d)
#ADD_SUBDIRECTORY(ptz)
Modified: code/gazebo/branches/bullet2/server/physics/Body.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/Body.cc 2009-10-21 16:29:07 UTC
(rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/Body.cc 2009-10-21 23:45:08 UTC
(rev 8324)
@@ -30,14 +30,6 @@
#include "XMLConfig.hh"
#include "Model.hh"
#include "GazeboMessage.hh"
-
-//#include "HeightmapGeom.hh"
-//#include "MapGeom.hh"
-//#include "SphereGeom.hh"
-//#include "TrimeshGeom.hh"
-//#include "BoxGeom.hh"
-//#include "CylinderGeom.hh"
-//#include "PlaneGeom.hh"
#include "Geom.hh"
#include "OgreVisual.hh"
@@ -187,8 +179,6 @@
this->dampingFactorP->Load(node);
this->turnGravityOffP->Load(node);
- std::cout << "Loading Body[" << this->GetName() << "]\n";
-
this->SetRelativePose(Pose3d(**this->xyzP, **this->rpyP));
// save transform from this Parent Model Frame to this Body Frame
@@ -348,23 +338,14 @@
// Initialize the body
void Body::Init()
{
- std::cout << "Body[" << this->GetName() << "] Init\n";
-
// If no geoms are attached, then don't let gravity affect the body.
if (this->geoms.size()==0 || this->turnGravityOffP->GetValue())
- {
this->SetGravityMode(false);
- }
- // Set the intial pose. Must do this to handle static models
- //this->SetPose(this->GetPose());
-
std::vector< Sensor* >::iterator siter;
for (siter = this->sensors.begin(); siter != this->sensors.end(); siter++)
- {
(*siter)->Init();
- }
// global-inertial damping is implemented in ode svn trunk
if(this->GetId() && this->dampingFactorP->GetValue() > 0)
Modified: code/gazebo/branches/bullet2/server/physics/MultiRayShape.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/MultiRayShape.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/MultiRayShape.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -1,3 +1,4 @@
+#include "XMLConfig.hh"
#include "MultiRayShape.hh"
using namespace gazebo;
@@ -20,8 +21,24 @@
this->rayFan->setMaterial("Gazebo/BlueLaser");
this->rayFanOutline->setMaterial("Gazebo/BlueEmissive");
- this->displayType = "fan";
+ Param::Begin(&this->parameters);
+ this->rayCountP = new ParamT<int>("rayCount",0,1);
+ this->rangeCountP = new ParamT<int>("rangeCount",0,1);
+ this->minAngleP = new ParamT<Angle>("minAngle",DTOR(-90),1);
+ this->maxAngleP = new ParamT<Angle>("maxAngle",DTOR(-90),1);
+ this->minRangeP = new ParamT<double>("minRange",0,1);
+ this->maxRangeP = new ParamT<double>("maxRange",0,1);
+ this->resRangeP = new ParamT<double>("resRange",0.1,1);
+ this->originP = new ParamT<Vector3>("origin", Vector3(0,0,0), 0);
+ this->displayTypeP = new ParamT<std::string>("displayRays", "off", 0);
+ // for block rays, vertical setting
+ this->verticalRayCountP = new ParamT<int>("verticalRayCount", 1, 0);
+ this->verticalRangeCountP = new ParamT<int>("verticalRangeCount", 1, 0);
+ this->verticalMinAngleP = new ParamT<Angle>("verticalMinAngle", DTOR(0), 0);
+ this->verticalMaxAngleP = new ParamT<Angle>("verticalMaxAngle", DTOR(0), 0);
+ Param::End();
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -41,34 +58,70 @@
delete *iter;
}
this->rays.clear();
+
+ delete this->rayCountP;
+ delete this->rangeCountP;
+ delete this->minAngleP;
+ delete this->maxAngleP;
+ delete this->minRangeP;
+ delete this->maxRangeP;
+ delete this->resRangeP;
+ delete this->originP;
+ delete this->displayTypeP;
+
+ delete this->verticalRayCountP;
+ delete this->verticalRangeCountP;
+ delete this->verticalMinAngleP;
+ delete this->verticalMaxAngleP;
+
}
////////////////////////////////////////////////////////////////////////////////
-void MultiRayShape::Load(unsigned int vertRayCount, unsigned int rayCount,
+// Load a multi-ray shape from xml file
+void MultiRayShape::Load(XMLConfigNode *node)
+{
+ this->rayCountP->Load(node);
+ this->rangeCountP->Load(node);
+ this->minAngleP->Load(node);
+ this->maxAngleP->Load(node);
+ this->minRangeP->Load(node);
+ this->maxRangeP->Load(node);
+ this->resRangeP->Load(node);
+ this->originP->Load(node);
+ this->displayTypeP->Load(node);
+ this->verticalRayCountP->Load(node);
+ this->verticalRangeCountP->Load(node);
+ this->verticalMinAngleP->Load(node);
+ this->verticalMaxAngleP->Load(node);
+//}
+
+////////////////////////////////////////////////////////////////////////////////
+/*void MultiRayShape::Load(unsigned int vertRayCount, unsigned int rayCount,
Vector3 origin, double minRange, double maxRange,
Angle minVertAngle, Angle maxVertAngle,
Angle minAngle, Angle maxAngle )
{
+*/
Vector3 start, end, axis;
Angle yawAngle, pitchAngle;
- Angle pDiff = maxVertAngle - minVertAngle;
- Angle yDiff = maxAngle - minAngle;
+ Angle pDiff = **this->verticalMaxAngleP - **this->verticalMinAngleP;
+ Angle yDiff = **this->maxAngleP - **this->minAngleP;
- this->maxRange = maxRange;
+ //this->maxRange = maxRange;
// Create and array of ray geoms
- for (unsigned int j = 0; j < vertRayCount; j++)
+ for (int j = 0; j < **this->verticalRayCountP; j++)
{
- for (unsigned int i = 0; i < rayCount; i++)
+ for (int i = 0; i < **this->rayCountP; i++)
{
- yawAngle = (rayCount == 1)? 0 :
- i * yDiff.GetAsRadian() / (rayCount - 1) +
- minAngle.GetAsRadian();
+ yawAngle = (**this->rayCountP == 1)? 0 :
+ i * yDiff.GetAsRadian() / (**this->rayCountP - 1) +
+ (**this->minAngleP).GetAsRadian();
- pitchAngle = (vertRayCount == 1)? 0 :
- j * pDiff.GetAsRadian() / (vertRayCount - 1) +
- minVertAngle.GetAsRadian();
+ pitchAngle = (**this->verticalRayCountP == 1)? 0 :
+ j * pDiff.GetAsRadian() / (**this->verticalRayCountP - 1) +
+ (**this->verticalMinAngleP).GetAsRadian();
axis.Set(cos(pitchAngle.GetAsRadian()) *
cos(yawAngle.GetAsRadian()),
@@ -76,8 +129,8 @@
sin(pitchAngle.GetAsRadian())*
cos(yawAngle.GetAsRadian()));
- start = (axis * minRange) + origin;
- end = (axis * maxRange) + origin;
+ start = (axis * **this->minRangeP) + **this->originP;
+ end = (axis * **this->maxRangeP) + **this->originP;
this->AddRay(start,end);
}
@@ -85,7 +138,7 @@
if (this->rayFan && this->rayFanOutline)
{
- if (this->displayType == "fan")
+ if (**this->displayTypeP == "fan")
{
this->rayFan->AddPoint(this->rayFan->GetPoint(0));
this->rayFanOutline->AddPoint(this->rayFanOutline->GetPoint(0));
@@ -93,10 +146,23 @@
}
}
-////////////////////////////////////////////////////////////////////////////////
-void MultiRayShape::SetDisplayType(const std::string &type)
+//////////////////////////////////////////////////////////////////////////////
+/// Save the sensor info in XML format
+void MultiRayShape::Save(std::string &prefix, std::ostream &stream)
{
- this->displayType = type;
+ stream << prefix << " " << *(this->minAngleP) << "\n";
+ stream << prefix << " " << *(this->maxAngleP) << "\n";
+ stream << prefix << " " << *(this->minRangeP) << "\n";
+ stream << prefix << " " << *(this->maxRangeP) << "\n";
+ stream << prefix << " " << *(this->resRangeP) << "\n";
+ stream << prefix << " " << *(this->originP) << "\n";
+ stream << prefix << " " << *(this->rayCountP) << "\n";
+ stream << prefix << " " << *(this->rangeCountP) << "\n";
+ stream << prefix << " " << *(this->displayTypeP) << "\n";
+ stream << prefix << " " << *(this->verticalRayCountP) << "\n";
+ stream << prefix << " " << *(this->verticalRangeCountP) << "\n";
+ stream << prefix << " " << *(this->verticalMinAngleP) << "\n";
+ stream << prefix << " " << *(this->verticalMaxAngleP) << "\n";
}
////////////////////////////////////////////////////////////////////////////////
@@ -158,7 +224,7 @@
for (iter = this->rays.begin();
iter != this->rays.end(); iter++, i++)
{
- (*iter)->SetLength( this->maxRange );
+ (*iter)->SetLength( **this->maxRangeP );
(*iter)->SetRetro( 0.0 );
(*iter)->SetFiducial( -1 );
@@ -170,7 +236,7 @@
if (this->rayFan && this->rayFanOutline)
{
- if (this->displayType == "fan")
+ if (**this->displayTypeP == "fan")
{
i = 1;
for (iter = this->rays.begin();
@@ -194,7 +260,7 @@
// Add to the renderable
if (this->rayFan && this->rayFanOutline)
{
- if (this->displayType == "fan")
+ if (**this->displayTypeP == "fan")
{
if (this->rayFan->GetNumPoints() == 0)
{
@@ -207,3 +273,81 @@
}
}
}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the minimum angle
+Angle MultiRayShape::GetMinAngle() const
+{
+ return **this->minAngleP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the maximum angle
+Angle MultiRayShape::GetMaxAngle() const
+{
+ return **this->maxAngleP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the minimum range
+double MultiRayShape::GetMinRange() const
+{
+ return **this->minRangeP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the maximum range
+double MultiRayShape::GetMaxRange() const
+{
+ return **this->maxRangeP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the range resolution
+double MultiRayShape::GetResRange() const
+{
+ return **this->resRangeP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the ray count
+int MultiRayShape::GetRayCount() const
+{
+ return **this->rayCountP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the range count
+int MultiRayShape::GetRangeCount() const
+{
+ return **this->rangeCountP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the vertical scan line count
+int MultiRayShape::GetVerticalRayCount() const
+{
+ return **this->verticalRayCountP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the vertical scan line count
+int MultiRayShape::GetVerticalRangeCount() const
+{
+ return **this->verticalRangeCountP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the vertical min angle
+Angle MultiRayShape::GetVerticalMinAngle() const
+{
+ return **this->verticalMinAngleP;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Get the vertical max angle
+Angle MultiRayShape::GetVerticalMaxAngle() const
+{
+ return **this->verticalMaxAngleP;
+}
+
Modified: code/gazebo/branches/bullet2/server/physics/MultiRayShape.hh
===================================================================
--- code/gazebo/branches/bullet2/server/physics/MultiRayShape.hh
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/MultiRayShape.hh
2009-10-21 23:45:08 UTC (rev 8324)
@@ -14,6 +14,8 @@
namespace gazebo
{
+ class XMLConfigNode;
+
/// \brief Laser geom contains a set of ray-geoms, structured to simulate
/// a laser range scanner
class MultiRayShape : public Shape
@@ -24,15 +26,17 @@
/// \brief Destructor
public: virtual ~MultiRayShape();
- public: void Load(XMLConfigNode *node) {}
+ /// \brief Load a multi-ray shape from xml file
+ public: void Load(XMLConfigNode *node);
/// \brief Save child parameters
- public: virtual void Save(std::string &prefix, std::ostream &stream) {}
+ public: virtual void Save(std::string &prefix, std::ostream &stream);
- public: void Load(unsigned int vertRayCount, unsigned int rayCount,
+ /*public: void Load(unsigned int vertRayCount, unsigned int rayCount,
Vector3 origin, double minRange, double maxRange,
Angle minVertAngle, Angle maxVertAngle,
Angle minAngle, Angle maxAngle );
+ */
public: void SetDisplayType(const std::string &type);
@@ -46,7 +50,40 @@
/// \brief Get detected fiducial value for a ray.
public: int GetFiducial(int index);
-
+
+ /// \brief Get the minimum angle
+ public: Angle GetMinAngle() const;
+
+ /// \brief Get the maximum angle
+ public: Angle GetMaxAngle() const;
+
+ /// \brief Get the minimum range
+ public: double GetMinRange() const;
+
+ /// \brief Get the maximum range
+ public: double GetMaxRange() const;
+
+ /// \brief Get the range resolution
+ public: double GetResRange() const;
+
+ /// \brief Get the ray count
+ public: int GetRayCount() const;
+
+ /// \brief Get the range count
+ public: int GetRangeCount() const;
+
+ /// \brief Get the vertical scan line count
+ public: int GetVerticalRayCount() const;
+
+ /// \brief Get the vertical scan line count
+ public: int GetVerticalRangeCount() const;
+
+ /// \brief Get the vertical min angle
+ public: Angle GetVerticalMinAngle() const;
+
+ /// \brief Get the vertical max angle
+ public: Angle GetVerticalMaxAngle() const;
+
/// \brief Update the geom
public: void Update();
@@ -62,8 +99,22 @@
/// Ray data
protected: std::vector< RayShape* > rays;
- protected: std::string displayType;
protected: double maxRange;
+
+ protected: ParamT<Angle> *minAngleP, *maxAngleP;
+ protected: ParamT<double> *minRangeP, *maxRangeP, *resRangeP;
+ protected: ParamT<Vector3> *originP;
+ protected: ParamT<int> *rayCountP;
+ protected: ParamT<int> *rangeCountP;
+
+ /// Display rays when rendering images
+ protected: ParamT<std::string> *displayTypeP;
+
+ // For ray blocks such as Velodyne
+ protected: ParamT<int> *verticalRayCountP;
+ protected: ParamT<int> *verticalRangeCountP;
+ protected: ParamT<Angle> *verticalMinAngleP;
+ protected: ParamT<Angle> *verticalMaxAngleP;
};
}
Modified: code/gazebo/branches/bullet2/server/physics/RayShape.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/RayShape.cc 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/RayShape.cc 2009-10-21
23:45:08 UTC (rev 8324)
@@ -35,8 +35,7 @@
this->type = Shape::RAY;
this->SetName("Ray");
- if (displayRays &&
- Simulator::Instance()->GetRenderEngineEnabled() )
+ if (displayRays && Simulator::Instance()->GetRenderEngineEnabled() )
{
this->line = OgreCreator::Instance()->CreateDynamicLine(
OgreDynamicRenderable::OT_LINE_LIST);
@@ -68,9 +67,21 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set to true in order to view individual rays
+void RayShape::SetDisplayType( bool displayRays )
+{
+ if (Simulator::Instance()->GetRenderEngineEnabled() )
+ {
+ if (!displayRays)
+ this->parent->GetVisualNode()->DetachObjects();
+ else
+ this->parent->GetVisualNode()->AttachObject(this->line);
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Set the ray based on starting and ending points relative to the body
-void RayShape::SetPoints(const Vector3 &posStart,
- const Vector3 &posEnd)
+void RayShape::SetPoints(const Vector3 &posStart, const Vector3 &posEnd)
{
Vector3 dir;
Modified: code/gazebo/branches/bullet2/server/physics/RayShape.hh
===================================================================
--- code/gazebo/branches/bullet2/server/physics/RayShape.hh 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/RayShape.hh 2009-10-21
23:45:08 UTC (rev 8324)
@@ -60,6 +60,9 @@
/// \brief Destructor
public: virtual ~RayShape();
+
+ /// \brief Set to true in order to view individual rays
+ public: void SetDisplayType( bool displayRays );
/// \brief Set the ray based on starting and ending points relative to
/// the body
@@ -122,6 +125,7 @@
/// Start and end positions of the ray in global cs
protected: Vector3 globalStartPos;
protected: Vector3 globalEndPos;
+
};
/// \}
Modified: code/gazebo/branches/bullet2/server/physics/bullet/BulletGeom.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/bullet/BulletGeom.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/bullet/BulletGeom.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -47,6 +47,7 @@
BulletGeom::BulletGeom( Body *_body )
: Geom(_body)
{
+ this->SetName("Bullet Geom");
this->bulletPhysics = dynamic_cast<BulletPhysics*>(this->physicsEngine);
this->collisionShape = NULL;
}
Modified: code/gazebo/branches/bullet2/server/physics/ode/ODEGeom.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/ode/ODEGeom.cc 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/ode/ODEGeom.cc 2009-10-21
23:45:08 UTC (rev 8324)
@@ -47,7 +47,8 @@
ODEGeom::ODEGeom( Body *_body )
: Geom(_body)
{
- this->SetSpaceId( ((ODEBody*)this->body)->GetSpaceId());
+ this->SetName("ODE Geom");
+ this->SetSpaceId( ((ODEBody*)this->body)->GetSpaceId() );
this->geomId = NULL;
}
@@ -91,11 +92,25 @@
void ODEGeom::OnPoseChange()
{
- if (this->geomId && this->placeable)
+ Pose3d localPose;
+ dQuaternion q;
+
+ if (this->IsStatic() && this->geomId && this->placeable)
{
- Pose3d localPose;
- dQuaternion q;
+ // Transform into global pose since a static geom does not have a body
+ localPose = this->GetAbsPose();
+ q[0] = localPose.rot.u;
+ q[1] = localPose.rot.x;
+ q[2] = localPose.rot.y;
+ q[3] = localPose.rot.z;
+
+ dGeomSetPosition(this->geomId, localPose.pos.x, localPose.pos.y,
+ localPose.pos.z);
+ dGeomSetQuaternion(this->geomId, q);
+ }
+ else if (this->geomId && this->placeable)
+ {
// Transform into CoM relative Pose
//localPose = newPose - this->body->GetCoMPose();
localPose = this->GetRelativePose();
Modified: code/gazebo/branches/bullet2/server/physics/ode/ODEMultiRayShape.cc
===================================================================
--- code/gazebo/branches/bullet2/server/physics/ode/ODEMultiRayShape.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/physics/ode/ODEMultiRayShape.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -25,8 +25,6 @@
ODEBody *pBody = (ODEBody*)(this->parent->GetBody());
pBody->SetSpaceId( this->raySpaceId );
((ODEGeom*)parent)->SetSpaceId(this->raySpaceId);
-
- this->displayType = "fan";
}
////////////////////////////////////////////////////////////////////////////////
@@ -129,7 +127,7 @@
RayShape *shape = (RayShape*)(rayGeom->GetShape());
if (contact.depth < shape->GetLength())
{
- shape->SetLength( 20);//contact.depth );
+ shape->SetLength(contact.depth );
shape->SetRetro( hitGeom->GetLaserRetro() );
shape->SetFiducial( hitGeom->GetLaserFiducialId() );
}
@@ -143,8 +141,9 @@
void ODEMultiRayShape::AddRay(const Vector3 &start, const Vector3 &end )
{
MultiRayShape::AddRay(start,end);
- ODERayShape *ray;
- ray = new ODERayShape(this->parent, this->displayType == "lines");
+
+ ODERayShape *ray = new ODERayShape( new ODEGeom(parent->GetBody()),
**this->displayTypeP == "lines");
+
ray->SetPoints(start,end);
this->rays.push_back(ray);
}
Modified: code/gazebo/branches/bullet2/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/bullet2/server/rendering/OgreAdaptor.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/rendering/OgreAdaptor.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -231,18 +231,22 @@
else
gzthrow(std::string("Unsupported shadow technique: ") +
**(this->shadowTechniqueP) + "\n");
- this->sceneMgr->setShadowTextureSelfShadow(true);
- this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
- this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
- this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
-
+ // Not sure if this does something useful.
+ /*if (**(this->shadowTechniqueP) != std::string("none"))
+ {
+ this->sceneMgr->setShadowTextureSelfShadow(true);
+ this->sceneMgr->setShadowTexturePixelFormat(Ogre::PF_FLOAT16_R);
+ this->sceneMgr->setShadowTextureSize(**(this->shadowTextureSizeP));
+ this->sceneMgr->setShadowIndexBufferSize(**(this->shadowIndexSizeP) );
+ this->sceneMgr->setShadowTextureSettings(512,2);
+ this->sceneMgr->setShadowColour(Ogre::ColourValue(0.2, 0.2, 0.2));
+ this->sceneMgr->setShadowFarDistance(30);
+ }*/
+
// Ambient lighting
this->sceneMgr->setAmbientLight(ambient);
- this->sceneMgr->setShadowTextureSettings(512,2);
- this->sceneMgr->setShadowColour(Ogre::ColourValue(0.2, 0.2, 0.2));
- this->sceneMgr->setShadowFarDistance(30);
// Add a sky dome to our scene
if (node->GetChild("sky"))
Modified: code/gazebo/branches/bullet2/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/branches/bullet2/server/rendering/OgreVisual.cc 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/rendering/OgreVisual.cc 2009-10-21
23:45:08 UTC (rev 8324)
@@ -259,6 +259,7 @@
/// Detach all objects
void OgreVisual::DetachObjects()
{
+ printf("Detaching objects\n");
boost::recursive_mutex::scoped_lock lock(*this->mutex);
// Stop here if the rendering engine has been disabled
Modified: code/gazebo/branches/bullet2/server/sensors/CMakeLists.txt
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/CMakeLists.txt 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/CMakeLists.txt 2009-10-21
23:45:08 UTC (rev 8324)
@@ -1,10 +1,10 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
-#ADD_SUBDIRECTORY(camera)
-#ADD_SUBDIRECTORY(contact)
-#ADD_SUBDIRECTORY(imu)
+ADD_SUBDIRECTORY(camera)
+ADD_SUBDIRECTORY(contact)
+ADD_SUBDIRECTORY(imu)
+ADD_SUBDIRECTORY(ray)
#ADD_SUBDIRECTORY(ir)
-ADD_SUBDIRECTORY(ray)
SET (sources Sensor.cc
SensorFactory.cc
Modified: code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.cc
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -140,5 +140,3 @@
}
}
-
-}
Modified: code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.hh
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.hh
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/imu/ImuSensor.hh
2009-10-21 23:45:08 UTC (rev 8324)
@@ -30,41 +30,37 @@
namespace gazebo
{
-class XMLConfigNode;
-class ImuSensor: public Sensor
-{
- /// \brief Constructor
- /// \param body The IMU sensor must be attached to a body.
- public: ImuSensor(Body *body);
-
- /// \brief Destructor
- public: virtual ~ImuSensor();
-
- /// \param node The XMLConfig node
- protected: virtual void LoadChild(XMLConfigNode *node);
-
- /// \brief Save the sensor info in XML format
- protected: virtual void SaveChild(std::string &prefix, std::ostream &stream);
-
- /// Initialize the ray
- protected: virtual void InitChild();
-
- /// Update sensed values
- protected: virtual void UpdateChild();
+ class XMLConfigNode;
+ class ImuSensor: public Sensor
+ {
+ /// \brief Constructor
+ /// \param body The IMU sensor must be attached to a body.
+ public: ImuSensor(Body *body);
- /// Finalize the ray
- protected: virtual void FiniChild();
-
- public: Pose3d GetVelocity();
-
- private: Pose3d prevPose;
- private: Pose3d imuVel;
-/*
- private: ParamT<int> *rayCountP;
- private: ParamT<int> *rangeCountP;
-*/
+ /// \brief Destructor
+ public: virtual ~ImuSensor();
+ /// \param node The XMLConfig node
+ protected: virtual void LoadChild(XMLConfigNode *node);
+
+ /// \brief Save the sensor info in XML format
+ protected: virtual void SaveChild(std::string &prefix, std::ostream
&stream);
+
+ /// Initialize the ray
+ protected: virtual void InitChild();
+
+ /// Update sensed values
+ protected: virtual void UpdateChild();
+
+ /// Finalize the ray
+ protected: virtual void FiniChild();
+
+ public: Pose3d GetVelocity();
+
+ private: Pose3d prevPose;
+ private: Pose3d imuVel;
+
+ };
+}
-};
-
#endif
Modified: code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.cc
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.cc 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.cc 2009-10-21
23:45:08 UTC (rev 8324)
@@ -22,7 +22,7 @@
* Author: Wenguo Liu
* Date: 23 february 2004
* SVN: $Id: IRSensor.cc 4436 2008-03-24 17:42:45Z robotos $
-*/
+ */
#include <assert.h>
#include <float.h>
@@ -48,7 +48,7 @@
//////////////////////////////////////////////////////////////////////////////
// Constructor
IRSensor::IRSensor(Body *body)
- : Sensor(body)
+ : Sensor(body)
{
this->active = false;
this->rayCount = NULL;
@@ -77,14 +77,29 @@
stream << "Body is NULL";
gzthrow(stream.str());
}
-
+
XMLConfigNode *iNode;
int i =0;
-
- this->IRCount = node->GetInt("irCount",0,1);
-
-
+ iNode = node->GetChild("ir");
+ while (iNode)
+ {
+ laserGeom =
World::Instance()->GetPhysicsEngine()->CreateGeom(Shape::MULTIRAY, this->body);
+ laserGeom->SetName("IR Sensor Geom");
+
+ laserShape = (MultiRayShape*)(laserGeom->GetShape());
+
+ laserShape->SetDisplayType( (**this->displayRaysP) );
+ laserShape->Load(iNode);
+ /*laserShape->Load(**verticalRayCountP, **rayCountP,
+ **this->originP, **minRangeP, **maxRangeP,
+ **this->verticalMinAngleP, **this->verticalMaxAngleP,
**this->minAngleP, **this->maxAngleP);*/
+
+ iNode = iNode->GetGetChild("ir");
+ }
+
+ /*this->IRCount = node->GetInt("irCount",0,1);
+
//Allocate memeorys
this->rayCount = new int[this->IRCount];
this->rangeCount = new int[this->IRCount];
@@ -93,19 +108,19 @@
this->minRange = new double[this->IRCount];
this->maxRange = new double[this->IRCount];
this->origin = new Vector3[this->IRCount];
-
-
+
+
//Read configuration from XML file
for(i=0, iNode = node->GetChild("ir"); iNode;i++)
- {
- if(i >= this->IRCount)
- {
- std::ostringstream stream;
- stream<< "please check the irCount is correct!";
- gzthrow(stream.str());
- }
-
- std::string name = iNode->GetString("name","",1);
+ {
+ if(i >= this->IRCount)
+ {
+ std::ostringstream stream;
+ stream<< "please check the irCount is correct!";
+ gzthrow(stream.str());
+ }
+
+ std::string name = iNode->GetString("name","",1);
this->rayCount[i] = iNode->GetInt("rayCount",0,1);
this->rangeCount[i] = iNode->GetInt("rangeCount",0,1);
this->minAngle[i] = DTOR(iNode->GetDouble("minAngle",-90,1));
@@ -114,7 +129,7 @@
this->maxRange[i] = iNode->GetDouble("maxRange",8,1);
this->origin[i] = iNode->GetVector3("origin", Vector3(0,0,0));
iNode = iNode->GetNext("ir");
- }
+ }
this->displayRays = node->GetBool("displayRays", true);
@@ -128,9 +143,11 @@
dGeomSetCategoryBits((dGeomID) this->raySpaceId, GZ_SENSOR_COLLIDE);
dGeomSetCollideBits((dGeomID) this->raySpaceId, ~GZ_SENSOR_COLLIDE);
+ */
/* BULLET
- this->body->SetSpaceId( this->raySpaceId );
- */
+ this->body->SetSpaceId( this->raySpaceId );
+ */
+
}
//////////////////////////////////////////////////////////////////////////////
@@ -157,14 +174,14 @@
angle = i * (this->maxAngle[j] - this->minAngle[j]) /
(this->rayCount[j] - 1) + this->minAngle[j];
axis.Set(cos(angle), sin(angle),0);
-
+
start = (axis * this->minRange[j]) + this->origin[j];
end = (axis * this->maxRange[j]) + this->origin[j];
/* BULLET
- ray = new RayGeom(this->body, displayRays);
- */
+ ray = new RayGeom(this->body, displayRays);
+ */
ray->SetPoints(start, end);
@@ -187,38 +204,38 @@
this->rays.clear();
if(this->rayCount!=NULL)
{
- delete []this->rayCount;
- this->rayCount=NULL;
+ delete []this->rayCount;
+ this->rayCount=NULL;
}
if(this->rangeCount!=NULL)
{
- delete []this->rangeCount;
- this->rangeCount=NULL;
+ delete []this->rangeCount;
+ this->rangeCount=NULL;
}
if(this->minAngle!=NULL)
{
- delete []this->minAngle;
- this->minAngle=NULL;
+ delete []this->minAngle;
+ this->minAngle=NULL;
}
if(this->maxAngle!=NULL)
{
- delete []this->maxAngle;
- this->maxAngle=NULL;
+ delete []this->maxAngle;
+ this->maxAngle=NULL;
}
if(this->minRange!=NULL)
{
- delete []this->minRange;
- this->minRange=NULL;
+ delete []this->minRange;
+ this->minRange=NULL;
}
if(this->maxRange!=NULL)
{
- delete []this->maxRange;
- this->maxRange=NULL;
+ delete []this->maxRange;
+ this->maxRange=NULL;
}
if(this->origin!=NULL)
{
- delete []this->origin;
- this->origin=NULL;
+ delete []this->origin;
+ this->origin=NULL;
}
}
@@ -272,23 +289,23 @@
{
std::ostringstream stream;
stream << "index[" << index << "] out of range[0-"
- << this->IRCount << "]";
+ << this->IRCount << "]";
gzthrow(stream.str());
}
-
+
//get the ray index range for this specific IR
int start_index=0;
int end_index=0;
for(int i=0;i<index;i++)
{
- start_index +=this->rayCount[i];
+ start_index +=this->rayCount[i];
}
end_index = start_index + this->rayCount[index] - 1;
-
+
double range = this->maxRange[index];
for(int i=start_index;i<=end_index;i++)
{
- range = std::min(this->rays[i]->GetLength(),range);
+ range = std::min(this->rays[i]->GetLength(),range);
}
return range;
@@ -300,10 +317,10 @@
{
std::ostringstream stream;
stream << "index[" << index << "] out of range[0-"
- << this->IRCount << "]";
+ << this->IRCount << "]";
gzthrow(stream.str());
}
-
+
Pose pose;
pose.pos.x = this->origin[index].x;
pose.pos.y = this->origin[index].y;
@@ -312,7 +329,7 @@
pose.pitch = 0;
pose.yaw = 0.5*(this->minAngle[index]+this->maxAngle[index]);
return pose;
-
+
}
@@ -320,7 +337,7 @@
// Update the sensor information
void IRSensor::UpdateChild()
{
-// if (this->active)
+ // if (this->active)
{
std::vector<RayGeom*>::iterator iter;
Pose3d poseDelta;
@@ -343,19 +360,19 @@
}
/*BULLET
- ODEPhysics *ode =
dynamic_cast<ODEPhysics*>(World::Instance()->GetPhysicsEngine());
+ ODEPhysics *ode =
dynamic_cast<ODEPhysics*>(World::Instance()->GetPhysicsEngine());
- if (ode == NULL)
- {
+ if (ode == NULL)
+ {
gzthrow( "Invalid physics engine. Must use ODE." );
- }
+ }
// BULLET
// Do collision detection
dSpaceCollide2( ( dGeomID ) ( this->superSpaceId ),
- ( dGeomID ) ( ode->GetSpaceId() ),
- this, &UpdateCallback );
- */
+ ( dGeomID ) ( ode->GetSpaceId() ),
+ this, &UpdateCallback );
+ */
}
}
Modified: code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.hh
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.hh 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/ir/IRSensor.hh 2009-10-21
23:45:08 UTC (rev 8324)
@@ -114,17 +114,19 @@
public: Pose GetPose(int index);
/// \brief Ray-intersection callback
- private: static void UpdateCallback( void *data, dGeomID o1, dGeomID o2 );
+ //private: static void UpdateCallback( void *data, dGeomID o1, dGeomID o2 );
/// Ray space for collision detector
- private: dSpaceID superSpaceId;
- private: dSpaceID raySpaceId;
+ //private: dSpaceID superSpaceId;
+ //private: dSpaceID raySpaceId;
+ private: std::vector<RaySensor*> irBeams;
+
/// Ray data
- private: std::vector<RayGeom*> rays;
+ //private: std::vector<RayGeom*> rays;
- private: double *minAngle, *maxAngle;
+ /*private: double *minAngle, *maxAngle;
private: double *minRange, *maxRange;
private: Vector3 *origin;
@@ -135,6 +137,7 @@
/// Display rays when rendering images
private: bool displayRays;
+ */
};
/// \}
Modified: code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.cc
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.cc
2009-10-21 23:45:08 UTC (rev 8324)
@@ -47,24 +47,6 @@
this->active = false;
this->typeName = "ray";
-
- Param::Begin(&this->parameters);
- this->rayCountP = new ParamT<int>("rayCount",0,1);
- this->rangeCountP = new ParamT<int>("rangeCount",0,1);
- this->minAngleP = new ParamT<Angle>("minAngle",DTOR(-90),1);
- this->maxAngleP = new ParamT<Angle>("maxAngle",DTOR(-90),1);
- this->minRangeP = new ParamT<double>("minRange",0,1);
- this->maxRangeP = new ParamT<double>("maxRange",0,1);
- this->resRangeP = new ParamT<double>("resRange",0.1,1);
- this->originP = new ParamT<Vector3>("origin", Vector3(0,0,0), 0);
- this->displayRaysP = new ParamT<std::string>("displayRays", "off", 0);
-
- // for block rays, vertical setting
- this->verticalRayCountP = new ParamT<int>("verticalRayCount", 1, 0);
- this->verticalRangeCountP = new ParamT<int>("verticalRangeCount", 1, 0);
- this->verticalMinAngleP = new ParamT<Angle>("verticalMinAngle", DTOR(0), 0);
- this->verticalMaxAngleP = new ParamT<Angle>("verticalMaxAngle", DTOR(0), 0);
- Param::End();
}
@@ -72,20 +54,6 @@
// Destructor
RaySensor::~RaySensor()
{
- delete this->rayCountP;
- delete this->rangeCountP;
- delete this->minAngleP;
- delete this->maxAngleP;
- delete this->minRangeP;
- delete this->maxRangeP;
- delete this->resRangeP;
- delete this->originP;
- delete this->displayRaysP;
-
- delete this->verticalRayCountP;
- delete this->verticalRangeCountP;
- delete this->verticalMinAngleP;
- delete this->verticalMaxAngleP;
}
//////////////////////////////////////////////////////////////////////////////
@@ -95,49 +63,28 @@
if (this->body == NULL)
gzthrow("Null body in the ray sensor");
- this->rayCountP->Load(node);
- this->rangeCountP->Load(node);
- this->minAngleP->Load(node);
- this->maxAngleP->Load(node);
- this->minRangeP->Load(node);
- this->maxRangeP->Load(node);
- this->resRangeP->Load(node);
- this->originP->Load(node);
- this->displayRaysP->Load(node);
- this->verticalRayCountP->Load(node);
- this->verticalRangeCountP->Load(node);
- this->verticalMinAngleP->Load(node);
- this->verticalMaxAngleP->Load(node);
+ this->laserGeom = World::Instance()->GetPhysicsEngine()->CreateGeom(
+ Shape::MULTIRAY, this->body);
+ this->laserGeom->SetName("Ray Sensor Geom");
- this->laserGeom =
World::Instance()->GetPhysicsEngine()->CreateGeom(Shape::MULTIRAY, this->body);
this->laserShape = (MultiRayShape*)(this->laserGeom->GetShape());
- this->laserShape->SetDisplayType( (**this->displayRaysP) );
- this->laserShape->Load(**this->verticalRayCountP, **this->rayCountP,
+ //this->laserShape->SetDisplayType( (**this->displayRaysP) );
+ this->laserShape->Load( node );
+ /*this->laserShape->Load(**this->verticalRayCountP, **this->rayCountP,
**this->originP, **this->minRangeP, **this->maxRangeP,
**this->verticalMinAngleP, **this->verticalMaxAngleP, **this->minAngleP,
**this->maxAngleP);
+ */
}
//////////////////////////////////////////////////////////////////////////////
/// Save the sensor info in XML format
void RaySensor::SaveChild(std::string &prefix, std::ostream &stream)
{
- stream << prefix << " " << *(this->minAngleP) << "\n";
- stream << prefix << " " << *(this->maxAngleP) << "\n";
- stream << prefix << " " << *(this->minRangeP) << "\n";
- stream << prefix << " " << *(this->maxRangeP) << "\n";
- stream << prefix << " " << *(this->resRangeP) << "\n";
- stream << prefix << " " << *(this->originP) << "\n";
- stream << prefix << " " << *(this->rayCountP) << "\n";
- stream << prefix << " " << *(this->rangeCountP) << "\n";
- stream << prefix << " " << *(this->displayRaysP) << "\n";
- stream << prefix << " " << *(this->verticalRayCountP) << "\n";
- stream << prefix << " " << *(this->verticalRangeCountP) << "\n";
- stream << prefix << " " << *(this->verticalMinAngleP) << "\n";
- stream << prefix << " " << *(this->verticalMaxAngleP) << "\n";
-}
+ this->laserShape->Save(prefix, stream);}
+
//////////////////////////////////////////////////////////////////////////////
// Init the ray
void RaySensor::InitChild()
@@ -158,77 +105,77 @@
/// Get the minimum angle
Angle RaySensor::GetMinAngle() const
{
- return **(this->minAngleP);
+ return this->laserShape->GetMinAngle();//**(this->minAngleP);
}
//////////////////////////////////////////////////////////////////////////////
/// Get the maximum angle
Angle RaySensor::GetMaxAngle() const
{
- return **(this->maxAngleP);
+ return this->laserShape->GetMaxAngle();//**(this->maxAngleP);
}
//////////////////////////////////////////////////////////////////////////////
/// Get the minimum range
double RaySensor::GetMinRange() const
{
- return this->minRangeP->GetValue();
+ return this->laserShape->GetMinRange();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the maximum range
double RaySensor::GetMaxRange() const
{
- return this->maxRangeP->GetValue();
+ return this->laserShape->GetMaxRange();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the range resolution
double RaySensor::GetResRange() const
{
- return this->resRangeP->GetValue();
+ return this->laserShape->GetResRange();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the ray count
int RaySensor::GetRayCount() const
{
- return this->rayCountP->GetValue();
+ return this->laserShape->GetRayCount();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the range count
int RaySensor::GetRangeCount() const
{
- return this->rangeCountP->GetValue();
+ return this->laserShape->GetRangeCount();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the vertical scan line count
int RaySensor::GetVerticalRayCount() const
{
- return this->verticalRayCountP->GetValue();
+ return this->laserShape->GetVerticalRayCount();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the vertical scan line count
int RaySensor::GetVerticalRangeCount() const
{
- return this->verticalRangeCountP->GetValue();
+ return this->laserShape->GetVerticalRangeCount();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the vertical min angle
Angle RaySensor::GetVerticalMinAngle() const
{
- return this->verticalMinAngleP->GetValue();
+ return this->laserShape->GetVerticalMinAngle();
}
//////////////////////////////////////////////////////////////////////////////
/// Get the vertical max angle
Angle RaySensor::GetVerticalMaxAngle() const
{
- return this->verticalMaxAngleP->GetValue();
+ return this->laserShape->GetVerticalMaxAngle();
}
//////////////////////////////////////////////////////////////////////////////
@@ -238,7 +185,6 @@
return this->laserShape->GetRange(index);
}
-
//////////////////////////////////////////////////////////////////////////////
// Get detected retro (intensity) value for a ray.
double RaySensor::GetRetro(int index)
Modified: code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.hh
===================================================================
--- code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.hh
2009-10-21 16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/server/sensors/ray/RaySensor.hh
2009-10-21 23:45:08 UTC (rev 8324)
@@ -131,12 +131,13 @@
/// \brief Get detected fiducial value for a ray.
public: int GetFiducial(int index);
- private: ParamT<Angle> *minAngleP, *maxAngleP;
+ /*private: ParamT<Angle> *minAngleP, *maxAngleP;
private: ParamT<double> *minRangeP, *maxRangeP, *resRangeP;
private: ParamT<Vector3> *originP;
+ */
private: Pose3d prevPose;
- private: ParamT<int> *rayCountP;
+ /*private: ParamT<int> *rayCountP;
private: ParamT<int> *rangeCountP;
/// Display rays when rendering images
@@ -147,6 +148,7 @@
private: ParamT<int> *verticalRangeCountP;
private: ParamT<Angle> *verticalMinAngleP;
private: ParamT<Angle> *verticalMaxAngleP;
+ */
private: Geom *laserGeom;
private: MultiRayShape *laserShape;
Modified: code/gazebo/branches/bullet2/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/bullet2/worlds/pioneer2dx.world 2009-10-21
16:29:07 UTC (rev 8323)
+++ code/gazebo/branches/bullet2/worlds/pioneer2dx.world 2009-10-21
23:45:08 UTC (rev 8324)
@@ -52,6 +52,7 @@
<grid>false</grid>
<shadowTechnique>stencilModulative</shadowTechnique>
+ <!--<shadowTechnique>none</shadowTechnique>-->
</rendering:ogre>
<!-- Ground Plane -->
@@ -72,7 +73,7 @@
</model:physical>
<model:physical name="sphere1_model">
- <xyz>2.15 -1.68 1.3</xyz>
+ <xyz>2.15 -1.68 1.2</xyz>
<rpy>0.0 0.0 0.0</rpy>
<static>false</static>
<laserFiducialId>1</laserFiducialId>
@@ -80,10 +81,10 @@
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
- <size>0.1</size>
+ <size>0.2</size>
<mass>1</mass>
<visual>
- <scale>0.1 0.1 0.1</scale>
+ <scale>0.2 0.2 0.2</scale>
<mesh>unit_sphere</mesh>
<material>Gazebo/Rocky</material>
</visual>
@@ -104,7 +105,6 @@
<model:physical name="pioneer2dx_model1">
<xyz>0 0 .145</xyz>
<rpy>0.0 0.0 90.0</rpy>
- <!--<collide>all</collide>-->
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
@@ -147,7 +147,7 @@
</include>
</model:physical>
- <!--<model:physical name="box1_model">
+ <model:physical name="box1_model">
<xyz>1 1.5 0.5</xyz>
<canonicalBody>box1_body</canonicalBody>
<static>true</static>
@@ -161,12 +161,11 @@
<visual>
<size>1 1 1</size>
<mesh>unit_box</mesh>
- <material>Gazebo/SmileyHappy</material>
+ <material>Gazebo/Grey</material>
</visual>
</geom:box>
</body:box>
</model:physical>
- -->
<!-- Directional light -->
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