Actually It is done this way: D1= distace travelled by left wheel (time * radius * angular velocity of left wheel) D2= distance travelled by right wheel
how much we rotated= (D2 - D1) / separation betwen wheels how much we go on X axis =(d1 + d2) / 2) * cosine of how much we rotated how much we go on Y axis =(d1 + d2) / 2) * sine of how much we rotated All those things are positions For velocity just divide distances by time since last call. -- Jordi Polo > 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=12164 > >>>2 _______________________________________________ > >>> 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 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
