Hi
I did that for my own robot. I cheated, I used the
odomPose and odomVel to dump the moved distance:
void CycabModel::UpdateOdometry( double step )
{
double wheelDiam;
wheelDiam = this->wheelDiam;
// pour p_front_left de cycabstate
this->odomPose[0] += step * wheelDiam / 2 *
(-frontLeftJoint->GetAngle2Rate());
this->odomPose[1] += step * wheelDiam / 2 *
(-frontRightJoint->GetAngle2Rate());
this->odomPose[2] += step * wheelDiam / 2 *
(rearLeftJoint->GetAngleRate());
this->odomVel[0] += step * wheelDiam / 2 *
(rearRightJoint->GetAngleRate());
this->odomVel[1] = this->cmdSteer;
return;
}
I know that you will say: "it's awful!" but it's
working ( :-p )
So, you can build your own Pioneer robot and use this.
Is someone is interested, I can send my robot's code.
Bye
--- Nate Koenig <[EMAIL PROTECTED]> a écrit :
> Hello,
>
> This sounds like a good idea. I'll add this into the
> position proxy as
> soon as possible.
>
> thanks,
> -nate
>
> On 10/31/07, Tom Kazimiers <[EMAIL PROTECTED]> wrote:
> > Hello,
> >
> > I played a bit around in gazebo and realized that
> I need to get the
> > moved distances of every wheel on a Pioneer robot.
> > Is there a way how to find them out? The
> PositionProxy does not seem to
> > offer these information.
> >
> > Thanks in advance
> > Tom
> >
> >
>
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