The best way to simulate the AT's odometers would be to look at the rotations (or integrate rotational velocities) of the individual wheel objects, if you can do that in the current system. (And each pair of wheels, left and right, ought to be synchronized, so you could just look at the two front wheels, or whichever one moved the most (front or back), or something.)
Reed Jordi wrote: > I guess that the authors wanted to simulate a typical odometric system. > Using the body methods is just too perfect and it's information that can't be > accessed in a real model (well, may be available if you have a gyroscope on > board). > As Pioneer (the real robot) uses odometry for getting information of position > (I guess, I don't have one), the model also use simulated odometry. > > Anyway 470- 360 =110 degrees of difference between ideal data and simulated > data is far too much. Are you just using wxgazebo? > > -- > Jordi Polo > >> After looking closer at the model created I noticed that the authors >> didn't take advantage of such functions like GetPose or GetLinearVel and >> GetAngularVel for this->chassis but instead calculated the values using >> methods that assume the base has two wheels... >> >> Was there a reason for this? >> >> It seems that if I use these functions of the Body Class I get the >> heading and linear/angular velocities desired. >> >> Thanks >> Sean >> >> Sean Verret wrote: >>> Hi there, >>> >>> I've been running a simple Pioneer2AT model in a world with no >>> obstacles. I noticed that if you rotate the robot 360 degrees, using >>> the position widget it in fact states that the robot has rotated closer >>> to 470 degrees. >>> >>> Does anyone else have this problem? Could I be missing something in my >>> world file? >>> >>> Thanks >>> Sean >>> >>> Using Tomcat but need to do more? Need to support web services, security? >>> Get stuff done quickly with pre-integrated technology to make your job >>> easier Download IBM WebSphere Application Server v.1.0.1 based on Apache >>> Geronimo >>> http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 >>> _______________________________________________ >>> Playerstage-gazebo mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > Using Tomcat but need to do more? Need to support web services, security? > Get stuff done quickly with pre-integrated technology to make your job easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
