Tom, > I encountered sveral problems which I can not solve: > 1. For X and Y position I have to add 6 to the proxy-X and 4 to the > proxy-Y - 6 and 4 are the starting coordinates of the robot - Why does > it not know the correct position? I guess it simulates a odomotry model > and at the beginning it has not "driven" at all - so it meassures the > movement - not the position (e.g. the relative position to the starting > point) - is this correct? This is correct if you are not using the TruthWidget it is a robot centric frame of reference (the robot does not know the global coordinates).
> 2. Truth Widget seems somehow instable - at the beinning, the robot > procy sees no movement at all - which makes sense as I am just standing > at the start point - and the truth widget suddenly starts turning. This > happens also in other moments - it's values just change a little all the > time. Why? Assuming that these values are very small they are probably the result of the physics simulation and joints interacting to cause small variations in the actual pose of the robot (The values in the attached log file seem to fall within this range). > 3. I read that the angles are meassured in degrees are referencing a > euler "space". But I can not image that these values are degrees. The > truth widgets values (3rd column) are way to small and the the proxy > values (6th column) are bigger but still to small. For the Proxy-Data I > think it is between -pi and pi. But I am not sure. > How are the angles meassured for truth widget and PositionProxy2D? > All angles in ODE and Gazebo should be in radians, the control panels (ex: position) have converted these to a degree readout for readability. Also Player2.x expects all angles to be in radians (this is a change from the 1.x line and some of the documentation may not have been updated), so when using the Position2DProxy you should be using radians (note Player itself will let you send any number so you can use degrees but it will break/confuse the prebuilt tools like playerv). Sawyer ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2005. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
