Hi,
I am trying to impart some velocity/acceleration to a position
interface. I am doing this with the following code.
When I run using this code the robot moves slowly (not even 1m/s speed).
I dont have any idea about this.Can anyone help me ?
Also it would be better if some examples showing the usage of velocity
, laser etc are included in the gazebo source.
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
#include <gazebo/gazebo.h>
#include <gazebo/GazeboError.hh>
int main()
{
gazebo::Client *client = new gazebo::Client();
gazebo::SimulationIface *simIface = new gazebo::SimulationIface();
gazebo::PositionIface *posIface = new gazebo::PositionIface();
int serverId = 0;
/// Connect to the libgazebo server
try
{
client->ConnectWait(serverId, GZ_CLIENT_ID_USER_FIRST);
}
catch (gazebo::GazeboError e)
{
std::cout << "Gazebo error: Unable to connect\n" << e << "\n";
return -1;
}
/// Open the Simulation Interface
try
{
simIface->Open(client, "default");
}
catch (gazebo::GazeboError e)
{
std::cout << "Gazebo error: Unable to connect to the sim
interface\n" << e << "\n";
return -1;
}
/// Open the Position interface
try
{
posIface->Open(client, "position_iface_0");
}
catch (gazebo::GazeboError e)
{
std::cout << "Gazebo error: Unable to connect to the position interface\n"
<< e << "\n";
return -1;
}
posIface->Lock(1);
posIface->data->cmdEnableMotors = 1;
posIface->Unlock();
while (true)
{
posIface->Lock(1);
posIface->data->cmdVelocity.pos.x+=10;
posIface->Unlock();
posIface->Lock(1);
std::cout << posIface->data->cmdVelocity.pos.x << " " <<
posIface->data->cmdVelocity.pos.y << " " <<
posIface->data->cmdVelocity.pos.z << std::endl;
posIface->Unlock();
usleep(100000);
}
return 0;
}
----------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Thank You
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