Hi
I am running gazebo and player with the attached files.
The display window shows that the robot moves certain distance and
stops.But the robot's pose is getting updated (as i can understand from
the values printed).
In fact I didn't understand the use of "set_cmd_vel" function
properly.
Can anybody help me out of this please ????
Waiting for your replies
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COMPUTER SCIENCE AND ENGINEERING(DUAL DEGREE)
ROLL.NO# 200402017
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CONTACT NO# 9849229262
IIIT--HYDERABAD.
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# Desc: Player sample configuration file for controlling Gazebo devices
# Date: 18 Apr 2003
# CVS: $Id: gazebo.cfg,v 1.10 2005/04/15 18:08:24 gerkey Exp $
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
alwayson 1
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "robot1"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "laser1"
)
#driver
#(
# name "gz_stereo"
# provides ["left_disparity::camera:1"]
# gz_id "stereo1"
#)
<?xml version="1.0"?>
<gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";>
<param:Global>
<fogDensity>0.025</fogDensity>
</param:Global>
<model:LightSource>
<id>light0</id>
<xyz>-5.000 -5.000 10.000</xyz>
</model:LightSource>
<model:ObserverCam>
<id>userCam0</id>
<xyz>10 0 20</xyz>
<rpy>0 90 0</rpy>
<imageSize>1024 700</imageSize>
</model:ObserverCam>
<model:GroundPlane>
<id>ground1</id>
<color>0.5 0.5 0.5</color>
<textureFile>grid.ppm</textureFile>
</model:GroundPlane>
<model:Pioneer2AT>
<id>robot1</id>
<xyz>-0.000 -0.000 -0.00</xyz>
<model:SickLMS200>
<id>laser1</id>
<xyz>0 0 1.8</xyz>
<rangeCount>181</rangeCount>
<scanRate>10</scanRate>
</model:SickLMS200>
</model:Pioneer2AT>
</gz:world>
#!/usr/bin/env python
import math
from playerc import *
# Create a client object
c = playerc_client(None, 'localhost', 6665)
# Connect it
if c.connect() != 0:
raise playerc_error_str()
# Create a proxy for position2d:0
p = playerc_position2d(c,0)
if p.subscribe(PLAYERC_OPEN_MODE) != 0:
raise playerc_error_str()
# Retrieve the geometry
if p.get_geom() != 0:
raise playerc_error_str()
print 'Robot size: (%.3f,%.3f)' % (p.size[0], p.size[1])
# Create a proxy for laser:0
l = playerc_laser(c,0)
if l.subscribe(PLAYERC_OPEN_MODE) != 0:
raise playerc_error_str()
# Retrieve the geometry
if l.get_geom() != 0:
raise playerc_error_str()
print 'Laser pose: (%.3f,%.3f,%.3f)' % (l.pose[0],l.pose[1],l.pose[2])
# Start the robot turning CCW at 20 deg / sec
p.enable(0)
p.set_cmd_vel(10.0, 5.0, 20.0 * math.pi / 180.0, 1)
for i in range(0,60):
if c.read() == None:
raise playerc_error_str()
print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa)
laserscanstr = 'Partial laser scan: '
for j in range(0,5):
if j >= l.scan_count:
break
laserscanstr += '%.3f ' % l.ranges[j]
print laserscanstr
# Now turn the other way
"""print "Now turn the other way"
p.set_cmd_vel(0.0, 0.0, -20.0 * math.pi / 180.0, 1)
for i in range(0,30):
if c.read() == None:
raise playerc_error_str()
print 'Robot pose: (%.3f,%.3f,%.3f)' % (p.px,p.py,p.pa)
laserscanstr = 'Partial laser scan: '
for j in range(0,5):
if j >= l.scan_count:
break
laserscanstr += '%.3f ' % l.ranges[j]
print laserscanstr
# Now stop
p.set_cmd_vel(0.0, 0.0, 0.0, 1)"""
# Clean up
p.unsubscribe()
l.unsubscribe()
c.disconnect()
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