Monday 22 May 2006 18:31、Raman Agarwal さんは書きました: > hi once again ! > > I wish to interface my client programs to Gazebo , using libgazebo > (by-passing Player). for this i tried my hand at a simple example. I used > example.world as my world file and wrote a small C program, which could > turn the Pioneer2d robot clockwise by 90° and then make it move forward in > the new direction. Everything worked fine but I have a few questions > regarding it. Following is the relevant snippet of my code : > --------------------------------------------------------------------------- >-------------------------------------- // enable motors > position->data->cmd_enable_motors = 1; > > // change direction of the bot > position->data->cmd_vel_rot[2] = -1.6; // ~90° clockwise > position->data->cmd_vel_pos[2] = 0.12; // switch on motor for z-axis > sleep(1); // wait for 1ms > position->data->cmd_vel_rot[2] = 0; // fix this angle/pose > position->data->cmd_vel_pos[2] = 0; // switch off motor for z-axis > > // move forward in new direction > position->data->cmd_vel_pos[0] = 1.52; // switch on motor for x-axis > > --------------------------------------------------------------------------- >-------------------------------------- > > Q1 : is there a neater approach to turn the robot. ideally speaking, the > highlighted commands shouldnt be used, but commenting them out ddnt move > anything :(
I can't see what commands are hightlighted. Pioneer robots works as follows: cmd_vel_pos[0] is the linear velocity, any direction or I may say along the x axis of the robot (not the global axis of the world) . The x axis of the robot will change if you compare it with the x axis of the world when you rotate your robot. I don't know about how it is the GUI done. Maybe the three slides are moved because cmd_vel_pos[1] and cmd_vel_pos[2] just do nothing. position->data->cmd_vel_rot[2] is the rotation velocity of the robot. ------------------------------------------------------- All the advantages of Linux Managed Hosting--Without the Cost and Risk! Fully trained technicians. The highest number of Red Hat certifications in the hosting industry. Fanatical Support. Click to learn more http://sel.as-us.falkag.net/sel?cmd=lnk&kid7521&bid$8729&dat1642 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
