Hi,
I am trying to simulate different robots with Gazebo. I am using the
ClientProxy Position3D for each of the robots. My problem is that the
position initialization (SetOdometry) with Position3D does not work well. I
simulate the same code with Stage and Position2D and it works fine (the
robot initialize their odometry with the values that I indicate).
Part of the code is:
robot = new
PlayerClient("localhost",PLAYER_PORTNUM+params.robot_params.robot_id-1);
robot->SetDataMode(PLAYER_DATAMODE_PULL);
robot->SetReplaceRule(false, -1, PLAYER_MSGTYPE_DATA, 1);
#ifdef STAGE
pp = new Position2dProxy(robot,0);
#endif
#ifdef GAZEBO
pp = new Position3dProxy(robot,0);
#endif
pp->ResetOdometry();
params1=params;
#ifdef STAGE
pp->SetOdometry(params.longitude, params.latitude, params.orientation);
#endif
#ifdef GAZEBO
pp->SetOdometry(params.longitude, params.latitude, 0.234, 0.0, 0.0,
params.orientation);
#endif
However, in both cases I can read the current position of the robots
without any problem and when the robots move I read the correct values. But
as I said before with Position3D and Gazebo all the robots start their
position at the point (0,0,0) instead at the values I would like to.
Any ideas?, do I miss something?
Thanks in advance, Antidio.
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