hi
Using the scale option for the physics engine as well makes the helicopter
model stable. Otherwise it just seemed to drift away even though it was
initialized at z = 0. Maybe it was too large and the body weight assigned
through box_geom was too small for it.
I have placed the "gazelle.material" file at the right location. I just get
a red helicopter.
I get the message:
Gazebo Path[/usr/local/share/gazebo]
Ogre Path[/usr/local/lib/OGRE]
[server/Simulator.cc:332]
Creating GUI:
Type[fltk] Pos[0 0] Size[800 600]
creating /tmp/gazebo-hasan-0
creating /tmp/gazebo-hasan-0/simulation.default 112 688
[server/rendering/OgreVisual.cc:190]
Unable to get Material[gazelle] for
Geometry[SceneRoot_VISUAL_402_VISUAL_0_VISUAL_1_VISUAL_0. Object will appear
white
[server/sensors/Sensor.cc:94]
Cheers
Vaibhav
On Mon, Feb 18, 2008 at 8:43 AM, Nate Koenig <[EMAIL PROTECTED]> wrote:
> Hello,
>
> You have applied the <scale> option only to the visual. This will
> cause the helicopter to be visually smaller, but the physics engine
> will think it's much bigger. You should apply the scale in both the
> geom and the visual.
>
> The helicopter model will fall automatically, since gravity acts on
> the model. You'll have to write a special controller to make the
> helicopter stay aloft.
>
> The material file seems to work for me. Make sure you copied it into
> the correct location:
> <install_path>/share/gazebo/Media/materials/scripts
>
> -nate
>
> On Feb 4, 2008 2:58 AM, Vaibhav Ghadiok <[EMAIL PROTECTED]> wrote:
> > hi
> >
> > I have a bit of a problem with the helicopter model. I am using SVN
> version
> > 233 of Gazebo.
> >
> > My world file part of the model declaration is:
> >
> > <model:physical name="helicopter">
> > <xyz>3 3 0</xyz>
> > <rpy>0 0 0</rpy>
> > <static>false</static>
> >
> > <body:trimesh name="gazelle_body">
> >
> > <geom:box name="box1_geom">
> > <size>1 1 1</size>
> > <mass>1.0</mass>
> > </geom:box>
> >
> > <geom:trimesh name="gazelle_geom">
> >
> > <mesh>gazelle.mesh</mesh>
> > <material>gazellle</material>
> >
> > <visual>
> > <scale>0.15 0.15 0.15</scale>
> > <mesh>gazelle.mesh</mesh>
> > <material>gazelle</material>
> > </visual>
> >
> > </geom:trimesh>
> >
> > </body:trimesh>
> > </model:physical>
> >
> >
> > I have added the "gazelle.mesh" file in the
> > "/usr/local/share/gazebo/Media/models/". and the "gazelle.material" file
> in
> > the "/usr/local/share/gazebo/Media/materials/scripts/".
> > I have attached these files to the post.
> >
> > I am facing two problems.
> >
> > 1.One is the Helicopter seems to fall off the sky and then never seems
> to
> > settle on the ground and it keeps bobbing around. It is fine if I make
> > static =false. The same behavior is seen even if geom box is removed. I
> had
> > finally like to give some kind of body to the helicopter for collision
> > detection.
> >
> > 2.The second problem is that it is not able to find the gazelle
> material. I
> > get a message stating that the helicopter will be displayed white but
> > instead it is displayed as red with black propellers.
> >
> > Cheers
> > Vaibhav
> >
> > --
> > http://guidance.aero.iisc.ernet.in/vaibhav
> >
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