Well, as far as I can see GetAngularVelocity returns something, but nothing I
can use.
In the end I just used the global pose to calculate the angular velocity. I
should have done this earlier, it's three lines of code ;-)
If anyone is interested in the gyro plugin, just ask me.
Thanks at all for your help!
> -----Ursprüngliche Nachricht-----
> Von: Gazebo developers <[email protected]>
> Gesendet: 30.10.07 09:17:59
> An: Gazebo developers <[email protected]>
> Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>
> I am using a simple cylinder and the function GetAngularVelocity from the
> body (not from the cylinder geom):
> GzQuatern angVel= this->body->GetAngularVel();
> GzVector eulers = GzQuaternToEuler(angVel);
> printf("%f \n", eulers.z); returns values from -3.14 to +3.14 and they change
> in this spectrum even on a constant turning speed.
> I don't set the angular velocity, because it's the global variable. I think
> this is set automatically.
>
> The body is initialized like this:
> this->body = new Body( this->world );
> this->AddBody(this->body, true);
>
> Jonas
>
> > -----Ursprüngliche Nachricht-----
> > Von: Gazebo developers <[email protected]>
> > Gesendet: 29.10.07 19:06:14
> > An: "Gazebo developers" <[email protected]>
> > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>
>
> >
> > Can you provide some more information? What type of geometry are your
> > using? And exactly what function are you using to get/set the angular
> > velocity?
> >
> > -nate
> >
> > On 10/29/07, Jonas Lanvers <[EMAIL PROTECTED]> wrote:
> > > I tried this, but it didn't work.
> > > With a constant turning speed (that should propably result in a more or
> > > less constant angular velocity) I get values from -2 over 0 to 2.
> > > In my opinion angular velocity is, how much the angle on a specific axis
> > > changes in time. So the vaules should raise and then, stay constant.
> > > The values I get are sinus-like.
> > >
> > > Jonas
> > > -
> > > -----Ursprüngliche Nachricht-----
> > > Von: Gazebo developers <[email protected]>
> > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
> > >
> > >
> > > Hello,
> > >
> > > There is a function in gazebo's quaternion class to convert to Euler
> > > angles. It might be easier to work with.
> > >
> > > -nate
> > >
> > > On 10/29/07, Jonas Lanvers <[EMAIL PROTECTED]> wrote:
> > > > Hello again :-)
> > > > My quaternion to angle conversion seemed to be completely wrong.
> > > > Does anybody know how to convert the Quaternion from
> > > > Body->GetAngularVel() to degrees / second?
> > > > I tried a lot of formulas, but they all don't work. The output becomes
> > > > smaller and bigger although I run it with a constant rotation speed.
> > > > So the angular velocity also has to be more or less constant, doesn't
> > > > it?
> > > >
> > > > Thanks in advance
> > > >
> > > > Jonas
> > > > -----Ursprüngliche Nachricht-----
> > > > Von: Gazebo developers <[email protected]>
> > > > Gesendet: 23.10.07 19:46:05
> > > > An: "Gazebo developers" <[email protected]>
> > > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
> > > >
> > > >
> > > > Yeah, the drift does seem to be a problem. Are there any mathematical
> > > > models for drift, or simple ways to estimate it? If all else fails,
> > > > maybe adding a little gaussian noise will do the trick. However, take
> > > > that with a grain of salt, I'm no expert on gyroscopes.
> > > >
> > > > -nate
> > > >
> > > > On 10/23/07, Jonas Lanvers <[EMAIL PROTECTED]> wrote:
> > > > > Hi,
> > > > >
> > > > > The object does not have to spin. I only need orientation and drift.
> > > > > Orientation seems to be no problem, I got this by converting the
> > > > > Global Pose Quaternion.
> > > > > But drift seems to be a problem, doesn't it?
> > > > >
> > > > > Jonas
> > > > >
> > > > > -----Ursprüngliche Nachricht-----
> > > > > Von: Gazebo developers <[email protected]>
> > > > > Gesendet: 22.10.07 23:59:05
> > > > >
> > > > >
> > > > > A gyroscope might be possible. Do you want an actively spinning
> > > > > object, or just a sensor that measures/maintains orientation?
> > > > >
> > > > > -nate
> > > > >
> > > > > On 10/18/07, Jonas Lanvers <[EMAIL PROTECTED]> wrote:
> > > > > > Is there any way (or better a plugin ) to simulate a gyroscope in
> > > > > > gazebo?
> > > > > >
> > > > > > Jonas
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