Hello, Yes, a lot of Rays will significantly slow down gazebo. As an alternative to rays, you might try using a cylinder or a cone trimesh. You'll have to copy the RaySensor class and modify the code to use Cylinders. This should more accurately simulate a sonar without the overhead of numerous rays.
-nate On Nov 9, 2007 12:45 AM, Jonas Lanvers <[EMAIL PROTECTED]> wrote: > > Is there any known internal limitation of rays in gazebo (number of rays that > can be handled without heavy losses of speed)? > My problem is, that I have to simulate a robot with 16 sonars. The gazebo > solution of sensors is only a simple ray, but, as you know, sonars have a > kind of a frustum. > To solve this, I simply represented this frustum by a lot of rays. When I > want to have a high resolution, a mass of rays are needed (> 1000 rays per > sensor). > > This slows down gazebo, of course. Maybe gazebo can handle a lot more rays > but my implementaion is crap. > Does anybody have experience with this kind of sensor-modellation ? Is there > any other way to simulate a frustum, maybe determine the other objects > position and orientation and calculate the distance and angle. > > Thanks in advance! > Jonas > _________________________________________________________________________ > In 5 Schritten zur eigenen Homepage. Jetzt Domain sichern und gestalten! > Nur 3,99 EUR/Monat! http://www.maildomain.web.de/?mc=021114 > > > ------------------------------------------------------------------------- > 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
