Hi everyone,
Still quite the newbie here, so my apologies if this is a silly
question or if it has been discussed before, but I haven't been able
to find any relevant info regarding the issues I have in controlling
ptz for a camera in gazebo.
I'm running gazebo (0.7.0) on Mac OS X (10.4.9) with a very simple
(obj-c) client program that goes straight into libgazebo. My model is
also simple (described below).
I am trying to control ptz on the SonyVID30 camera model, using
libgazebo directly. I'm assuming that to do so, one has to set
cmd_pan, cmd_tilt, and cmd_zoom on gz_ptz_t->data. Is this wrong?
I get the right behavior, but only the first time ptz commands are
set (when I start the gazebo server and then my client issues its
first ptz commands). Future commands are not properly executed. The
behavior I get with the every further ptz command is some jerkiness
in the camera movement, as if the new ptz commands were attempted but
reset before the movement is complete. Does this make sense?
Now, I also get similar non-responsive behaviors controlling ptz
using the wx controls (ptz simulation control running wxgazebo). Most
of the times controlling ptz works, but every so often the camera
will get stuck in the last position issued and it will only get
unstuck after playing with the controls some more. Has anybody
experienced something similar?
BTW, is there any other documentation related to using libgazebo
directly, besides the Gazebo Manual (0.4.0-0.5.0)? Perhaps a code
repository with examples people have worked on?
Many thanks for the help!
--Juan
P.S. The model (sans other world components, of course):
<model:Pioneer2AT>
<id>robot1</id>
<xyz>0.0 0.0 0</xyz>
<model:SonyVID30>
<id>camera1</id>
<xyz>0 0 0.30</xyz>
<rpy>0 0 0</rpy>
<model:StereoHead>
<id>stereo1</id>
<parentBody>head</parentBody>
<xyz>0 0 0.15</xyz>
<rpy>0 0 0</rpy>
<hfov>60</hfov>
<baseline>0.15</baseline>
<enableImageLeft>true</enableImageLeft>
<enableImageRight>true</enableImageRight>
<enableDisparityLeft>true</enableDisparityLeft>
<enableDisparityRight>true</enableDisparityRight>
</model:StereoHead>
</model:SonyVID30>
</model:Pioneer2AT>
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