Hi,
It is true that you can use the world file to put the robot in a position of
the environment but also I want to initialize the odometry to that position.
I tried different things and in all the cases the robot starts with position
0,0,0:
1. Set a position in the world file and not call to the functions
ResetOdometry and SetOdometry.
2. Call SetOdometry and not ResetOdometry with the position the same as the
one in the world file.
3. Call SetOdometry and not ResetOdometry with the position different from
the one specified in the world file.
4. Call ResetOdometry and then SetOdometry with the position the same as the
one in the world file.
5. Call ResetOdometry and then SetOdometry with the position different from
the one specidfied in the world file.
As I said before in all these 5 cases, the result was that the robot starts
its position as 0,0,0.
Is it the regular behavior?. Is it suppose that I have to initialize the
odometry by hand in the client program?.
Regards, Antidio.
Nate Koenig-2 wrote:
>
> Hello,
>
> Are you trying to use the Position3D interface to set the global
> location of each robot? If this is the case, then you should set the
> starting location of each robot via the world file.
>
> -nate
>
> On 4/1/07, Antidio <[EMAIL PROTECTED]> wrote:
>>
>> 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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>>
>>
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