Hi Stéphane,
it's awful! ;)
Thank you very much for this idea - I will test this tomorrow.
Indeed, it would be great if you can send me the code of your robot :).
Thanks in advance
Tom
LAFORET schrieb:
> 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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