Hi
I have some problems playing with the truth interface, I'm using the libgazebo
interface directly, Gazebo 0.6
The code attached below can't modify the position of any object of the world.
I've added truth intefaces to anything with no results: I always get the
same readings and nothing changes.
The interface is correctly opened.
The readings of the interface are correct and if I try to modify the readings
(for instance: iface->truth->data->pos[0]=pos_x+x-startX), the next time my
function is called, those readings go back to the real reading of the object
so I'm sure the server is working and updating the data.
double pos_x, pos_y, pos_z;
double rot_u, rot_x, rot_y, rot_z;
pos_x=iface->truth->data->pos[0];
pos_y=iface->truth->data->pos[1];
pos_z=iface->truth->data->pos[2];
rot_u=iface->truth->data->pos[0];
rot_x=iface->truth->data->pos[1];
rot_y=iface->truth->data->pos[2];
rot_z=iface->truth->data->pos[3];
Debug () << "post_x " << pos_x << " x " << x << " startX " <<startX << "
total " <<pos_x+x-startX ;
gz_truth_lock(iface->truth,1);
//iface->truth->data->pos[0]=pos_x+x-startX
iface->truth->data->cmd_pos[0]=pos_x+x-startX;
iface->truth->data->cmd_pos[1]=pos_y+y-startY;
iface->truth->data->cmd_pos[2]=pos_z;
iface->truth->data->cmd_rot[0]= rot_u;
iface->truth->data->cmd_rot[1]= rot_x;
iface->truth->data->cmd_rot[2]= rot_y;
iface->truth->data->cmd_rot[3]= rot_z;
gz_truth_unlock(iface->truth);
x and startX are defined elsewhere. The output is like this.
post_x 8.64727 x 478 startX 477 total 9.64727
post_x 8.64727 x 481 startX 478 total 11.6473
post_x 8.64727 x 482 startX 481 total 9.64727
post_x 8.64727 x 483 startX 482 total 9.64727
post_x 8.64727 x 483 startX 483 total 8.64727
That numbers are logical to me, except that I'm overriding cmd_pos with the
position named total but it is not changing anything of the real position of
the object.
--
Jordi Polo
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