Thanks! I'm making some progress, having discovered a transform error...things are looking up!
Nathan Michael wrote: > >> Is there a way to enlarge >> the rendered volume w.r.t. the ObserverCam? > The near and far clips, horizontal field of view, and image size > control the rendered volume defined by the ObserverCam. Each one can > be set in the world file. You could also enable frustrum displaying > to see the outlines of the volume that will be rendered. > > Nate > >> >> Simon >> >> Nathan Michael wrote: >>> >>> Hi Simon, >>> >>> Try: >>> >>> this->body->SetPose(GzPose pose) >>> >>> or >>> >>> this->body->SetPosition(GzVector pos) >>> this->body->SetRotation(GzQuatern rot) >>> >>> See: >>> >>> http://playerstage.sourceforge.net/doc/Gazebo-manual-0.7.0-html/ >>> classBody.html#a6d32b9b81d5e09ebaec8bc852184837 >>> >>> Nate >>> >>> On Aug 27, 2007, at 3:24 PM, smonckton wrote: >>> >>>> >>>> Hello All, >>>> >>>> I'm a newbie to libgazebo and trying to figure out the best way of >>>> driving >>>> an aircraft model in gazebo through an external aviation simulator. >>>> I'm not >>>> using player, since we use (IMHO) a more flexible device server >>>> (MIRO, for >>>> those that are interested), so I'm talking directly to libgazebo. >>>> I've tried >>>> a few experiments setting positions, which works...sort of. If I set >>>> position directly, I get odd results that makes me think I'm >>>> fighting ODE. >>>> Basically, I just want to feed the aircraft state directly to a >>>> plugin >>>> model. I noticed that in the AvatarHeli model, the following >>>> approach is >>>> used in AvatarHeli::PositionGetCmd(): >>>> void AvatarHeli::PositionGetCmd() >>>> { >>>> gz_position_lock(this->position, 1); >>>> >>>> this->cmdLinVel = GzVectorSet(this->position->data->cmd_vel_pos >>>> [0], >>>> this->position->data->cmd_vel_pos[1], >>>> this->position->data->cmd_vel_pos[2]); >>>> >>>> this->cmdAngVel = GzVectorSet(this->position->data->cmd_vel_rot >>>> [0], >>>> this->position->data->cmd_vel_rot >>>> [1], >>>> this->position->data->cmd_vel_rot >>>> [2]); >>>> >>>> gz_position_unlock(this->position); >>>> >>>> return; >>>> } >>>> >>>> and then in Update(): >>>> this->PositionGetCmd(); >>>> // Rotate velocities into global cs >>>> pose = this->GetPose(); >>>> lv = GzCoordPositionAdd(this->cmdLinVel, GzVectorSet(0, 0, 0), >>>> pose.rot); >>>> av = GzCoordPositionAdd(this->cmdAngVel, GzVectorSet(0, 0, 0), >>>> pose.rot); >>>> >>>> // Dumb controller >>>> this->body->SetLinearVel(lv); >>>> this->body->SetAngularVel(av); >>>> >>>> >>>> ...which is a 'back door' method of setting the state. Over the >>>> long haul >>>> the position within the external simulator and gazebo would diverge >>>> using >>>> this method. A similar technique is used in Blimp. So the question >>>> is: " Is >>>> there a way of directly setting the state of an actor in libgazebo >>>> other >>>> than through derivative terms?" >>>> >>>> Simon >>>> -- >>>> View this message in context: http://www.nabble.com/External- >>>> simulators-and-Gazebo-tf4337753.html#a12355928 >>>> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >>>> >>>> >>>> -------------------------------------------------------------------- >>>> -- >>>> --- >>>> This SF.net email is sponsored by: Splunk Inc. >>>> Still grepping through log files to find problems? Stop. >>>> Now Search log events and configuration files using AJAX and a >>>> browser. >>>> Download your FREE copy of Splunk now >> http://get.splunk.com/ >>>> _______________________________________________ >>>> Playerstage-gazebo mailing list >>>> [email protected] >>>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >>> >>> >>> --------------------------------------------------------------------- >>> ---- >>> This SF.net email is sponsored by: Splunk Inc. >>> Still grepping through log files to find problems? Stop. >>> Now Search log events and configuration files using AJAX and a >>> browser. >>> Download your FREE copy of Splunk now >> http://get.splunk.com/ >>> _______________________________________________ >>> Playerstage-gazebo mailing list >>> [email protected] >>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >>> >>> >> >> -- >> View this message in context: http://www.nabble.com/External- >> simulators-and-Gazebo-tf4337753.html#a12357858 >> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >> >> >> ---------------------------------------------------------------------- >> --- >> This SF.net email is sponsored by: Splunk Inc. >> Still grepping through log files to find problems? Stop. >> Now Search log events and configuration files using AJAX and a >> browser. >> Download your FREE copy of Splunk now >> http://get.splunk.com/ >> _______________________________________________ >> Playerstage-gazebo mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- View this message in context: http://www.nabble.com/External-simulators-and-Gazebo-tf4337753.html#a12358326 Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
