Yes, it is a possibility also if it's strange that the crash happens only after 50-55 seconds.
There is a command to impose directly the quaternion instead of euler angles, using libgazebo? In this case I can do other tests to verify this hypothesis! Thank you Domenico > Then it really seems like a quatern etc conversion bug. > Unfortunately I will not be able to use the computer in 3 or 4 days. I'll > try to find it once I come back. > If someone has related problem please explain them, it may help to find > the > bug. > > > On Thu, Mar 20, 2008 at 7:53 PM, Domenico Leonello > <[EMAIL PROTECTED]> > wrote: > >> I tried it right now and I confirm you that now the pause option works >> well (It is possible to see on the GUI window that the simulation is >> paused). On the other side the camera problem remains. So now we can >> probably exclude an ODE problems. >> >> Any other idea? >> >> Thank you >> >> Jordi Polo ha scritto: >> > >> > Since revision 4427 (1 minute ago). >> > The pause boolean in the Simulator interface should behave like a >> > pause/play button (couldn't try it, I need to sleep now) so write true >> > there each time you want to change the state. >> > The value of the state can be read in the new state member. >> > So >> > >> > if (simIface->data->state==1) //running >> > simIface->data->pause =true; //pause it >> > >> > or similar should work >> > >> > Note that this interface can be modified soon (Nate should review it) >> > >> > >> > On Thu, Mar 20, 2008 at 2:23 AM, Domenico Leonello >> > <[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>> wrote: >> > >> > for me it's not important the physics so I would like to turn it >> off. >> > >> > There is any method via libgazebo? >> > >> > Jordi Polo ha scritto: >> > > >> > > You can turn off the physics simulation pressing the SPACE key >> > in the >> > > gazebo window. Do you need to access to that method via >> libgazebo? >> > > No physics means everything static and bodies can collide and >> enter >> > > one another. >> > > >> > > The camera problem is really weird... >> > > >> > > >> > > On Thu, Mar 20, 2008 at 1:35 AM, Domenico Leonello >> > > <[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]> >> > <mailto:[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>>> >> > wrote: >> > > >> > > Hi, >> > > >> > > I did other tests with my program and I noticed this: >> > > >> > > when the euler angles I passed are minor or equal to 12 deg >> > (I passed >> > > the equivalent radiant value), all worked fine. Otherwise I >> > had that >> > > strange camera problem. It can be a problem with some >> > internal setting >> > > position/attitude? A strange conversion euler/quaternion? >> > > >> > > I don't believe it is a ODE problem because I don't have any >> > real >> > > dynamic integration (I impose the position/attitude >> > recursively to an >> > > object, nothing else) but eventually what kind of change can >> > I do with >> > > ODE parameters? Is it possible to turn off the ODE >> > integration during >> > > libgazebo calls? (ie, can I use a completely static >> > environment?) >> > > >> > > Thank you >> > > >> > > Domenico >> > > >> > > Jordi Polo ha scritto: >> > > > >> > > > You said that you haven't this problem before. >> > > > Do you mean that you were using the same control program, >> > > upgrading to >> > > > Gazebo make the problem appears and downgrading it don't >> > make it >> > > > disappear? >> > > > >> > > > If the camera is really falling from the object it should >> be >> a >> > > problem >> > > > with the physics, something have being changed, for >> > instance the >> > > > friction parameter mu1 now is taken into account for the >> > > friction. You >> > > > can try changing that. >> > > > Also the rendering method of the system can be configured >> > in the >> > > > .gazeborc file now. >> > > > I can not remember of any other big change that may be >> > affecting >> > > you. >> > > > >> > > > Do you have the original file of the gazelle? It may be a >> good >> > > > addition to the sets. >> > > > >> > > > >> > > > On Mon, Mar 3, 2008 at 7:57 PM, Domenico Leonello >> > > > <[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]> >> > <mailto:[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>> >> > > <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]>>>> >> > > wrote: >> > > > >> > > > Thank you for the advice. >> > > > >> > > > I attached the .world file (I tried some other >> > configuration >> > > and the >> > > > result is the same, so...) and here the C code >> > > > >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > Initialization .... >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > >> > > > /// Connect to the libgazebo server >> > > > try >> > > > { >> > > > client->ConnectWait(ServerID, ClientID); >> > > > //client->Connect(ServerID); >> > > > } >> > > > catch (gazebo::GazeboError e) >> > > > { >> > > > std::cout << "Gazebo error: Unable to connect\n" << >> > e << >> > > "\n"; >> > > > return; >> > > > } >> > > > /// Open the Left Camera interface >> > > > try >> > > > { >> > > > cam_leftIface->Open(client, "left_iface-name"); >> > > > } >> > > > catch (gazebo::GazeboError e) >> > > > { >> > > > std::cout << "Gazebo error: Unable to connect to >> > the left >> > > camera >> > > > interface\n" >> > > > << e << "\n"; >> > > > return; >> > > > } >> > > > >> > > > /// Open the Right Camera interface >> > > > try >> > > > { >> > > > cam_rightIface->Open(client, "right_iface-name"); >> > > > } >> > > > catch (gazebo::GazeboError e) >> > > > { >> > > > std::cout << "Gazebo error: Unable to connect to >> the >> > > right camera >> > > > interface\n" >> > > > << e << "\n"; >> > > > return; >> > > > } >> > > > >> > > > /// 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; >> > > > } >> > > > >> > > > /** Pausing simulation... (maybe not needed!!) **/ >> > > > simIface->Lock(1); >> > > > simIface->data->pause = 1; >> > > > >> > > > /// Setting command name for imposing 3D position >> > > > uint8_t model_req[32] = "set_pose3d"; >> > > > memcpy(simIface->data->model_req, model_req, 32); >> > > > >> > > > /// Setting model name for imposing new Pose in >> > Simulation >> > > > Interface >> > > > uint8_t model_name[512] = "helicopter"; >> > > > memcpy(simIface->data->model_name, model_name, >> 512); >> > > > >> > > > /** Writing the current odometric position... **/ >> > > > simIface->data->model_pose.pos.x = >> cmd_pos_change[0]; >> > > > simIface->data->model_pose.pos.y = >> cmd_pos_change[1]; >> > > > simIface->data->model_pose.pos.z = >> cmd_pos_change[2]; >> > > > >> > > > simIface->data->model_pose.roll = >> > cmd_rot_change[0]; >> > > > simIface->data->model_pose.pitch = >> cmd_rot_change[1]; >> > > > simIface->data->model_pose.yaw = >> cmd_rot_change[2]; >> > > > >> > > > /** Unlock simulation interface ... **/ >> > > > simIface->Unlock(); >> > > > >> > > > >> > > > >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > The cycle (called by matlab-simulink recursively) >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > >> > > > /** Lock simulation interface ... **/ >> > > > simIface->Lock(1); >> > > > >> > > > uint8_t model_name[512] = "helicopter"; >> > > > memcpy(simIface->data->model_name, model_name, 512); >> > > > >> > > > /** Writing the current odometric position... **/ >> > > > simIface->data->model_pose.pos.x = >> cmd_pos_change[0]; >> > > > simIface->data->model_pose.pos.y = >> cmd_pos_change[1]; >> > > > simIface->data->model_pose.pos.z = >> cmd_pos_change[2]; >> > > > >> > > > simIface->data->model_pose.roll = >> cmd_rot_change[0]; >> > > > simIface->data->model_pose.pitch = >> cmd_rot_change[1]; >> > > > simIface->data->model_pose.yaw = >> cmd_rot_change[2]; >> > > > >> > > > /** Unlock simulation interface ... **/ >> > > > simIface->Unlock(); >> > > > >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > >> > > >> > >> /******************************************************************************************/ >> > > > >> > > > >> > > > Here two screenshot of the left camera view: the first >> > > > (left_frame_0001) >> > > > during a normal call, the last (left_frame_0059) when >> > > already the >> > > > simulation starts crashing after 50-60 calls. >> > > > >> > > > Any idea? Is it possible that any system update (using >> > aptitude) >> > > > created >> > > > any problem, for example to the ode or ogre libraries? >> > > > Note that before I haven't encountered this problem! >> > But now >> > > I have it >> > > > also downgrading the SVN version of Gazebo! >> > > > >> > > > I'm using Kubuntu (both Gusty and Feisty). >> > > > >> > > > Tell me if I post any other usefull information! >> > > > >> > > > Thank you >> > > > >> > > > >> > > > Jordi ha scritto: >> > > > > >> > > > > Send me as much info as you can. >> > > > > If you can not send me the code or the world file >> > for whatever >> > > > reason, >> > > > > send me a screenshot. >> > > > > Also send this mail to the ML so Nate and others can >> > give some >> > > > advise. >> > > > > Lately I have not much time for Gazebo but I'll try >> > to help >> > > > > >> > > > > >> > > > > On Fri, Feb 29, 2008 at 10:21 PM, Domenico Leonello >> > > > > <[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]>> >> > > <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]> <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]>>> >> > > > <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]> >> > > <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]>> <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]> >> > > <mailto:[EMAIL PROTECTED] >> > <mailto:[EMAIL PROTECTED]>>>>> >> > > > wrote: >> > > > > >> > > > > Hi, >> > > > > >> > > > > maybe I found a bug in libgazebo. The situation >> > is the >> > > > following. >> > > > > >> > > > > Using MATLAB S-function I impose recursively >> > position and >> > > > attitude >> > > > > to an >> > > > > object (with an helicopter mesh) with 2 cameras >> > mounted on >> > > > (like a >> > > > > stereo pair). >> > > > > >> > > > > I observed a strange behaviour during the calls >> to >> > > > libgazebo. If I >> > > > > impose an attitude (also constant) different >> > from (0, >> > > 0, 0), >> > > > after a >> > > > > variable number of calls (it depends on the >> > entity of the >> > > > imposed >> > > > > angles) the cameras seem to fall from the >> > helicopter and >> > > > give deformed >> > > > > images (and then normally the simulation >> crashes). >> > > Sometimes it >> > > > > happens >> > > > > also that the trimesh attached to the helicopter >> > body >> > > stretches >> > > > > and deforms. >> > > > > >> > > > > If the imposed attitude is (0, 0, 0), I can >> > move the >> > > > cameras around >> > > > > with no problem. >> > > > > >> > > > > I didn't find any explanation to this behaviour. >> > > > > A memory error is unlikely (otherwise I can't >> > explain why >> > > > with (0, >> > > > > 0, 0) >> > > > > values all goes ok!). >> > > > > >> > > > > Maybe it is a sort of conversion error between >> > euler and >> > > > quaternions. >> > > > > This can explain why the mesh stretches, if the >> > quaternion >> > > > is not >> > > > > normalized to1! But why it happens only after >> 50-60 >> > > calls of >> > > > libgazebo >> > > > > and not immediatly? And wht it doesn't happen >> when >> > > euler angles >> > > > > are (0, >> > > > > 0, 0)? >> > > > > >> > > > > If you need, I can send you pictured of the >> deformed >> > > > helicopter and >> > > > > camera sight. And I can also send any >> information >> > > about the >> > > > C code >> > > > > that >> > > > > calls libgazebo. >> > > > > >> > > > > Thank you >> > > > > >> > > > > Domenico >> > > > > >> > > > > >> > > > > >> > > > > >> > > > > -- >> > > > > Jordi Polo Carres >> > > > > NLP laboratory - NAIST >> > > > > http://www.bahasara.org >> > > > >> > > > >> > > > >> > > > >> > > >> > >> ------------------------------------------------------------------------- >> > > > This SF.net email is sponsored by: Microsoft >> > > > Defy all challenges. Microsoft(R) Visual Studio 2008. >> > > > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ >> > > > _______________________________________________ >> > > > Playerstage-gazebo mailing list >> > > > [email protected] >> > <mailto:[email protected]> >> > > <mailto:[email protected] >> > <mailto:[email protected]>> >> > > > <mailto:[email protected] >> > <mailto:[email protected]> >> > > <mailto:[email protected] >> > <mailto:[email protected]>>> >> > > > >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > > >> > > > >> > > > >> > > > >> > > > -- >> > > > Jordi Polo Carres >> > > > NLP laboratory - NAIST >> > > > http://www.bahasara.org >> > > > >> > > >> > >> ------------------------------------------------------------------------ >> > > > >> > > > >> > > >> > >> ------------------------------------------------------------------------- >> > > > This SF.net email is sponsored by: Microsoft >> > > > Defy all challenges. Microsoft(R) Visual Studio 2008. >> > > > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ >> > > > >> > > >> > >> ------------------------------------------------------------------------ >> > > > >> > > > _______________________________________________ >> > > > Playerstage-gazebo mailing list >> > > > [email protected] >> > <mailto:[email protected]> >> > > <mailto:[email protected] >> > <mailto:[email protected]>> >> > > > >> > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > > >> > > >> > > >> > > >> > > >> > > -- >> > > Jordi Polo Carres >> > > NLP laboratory - NAIST >> > > http://www.bahasara.org >> > >> > >> > >> > >> > -- >> > Jordi Polo Carres >> > NLP laboratory - NAIST >> > http://www.bahasara.org >> > > > > -- > Jordi Polo Carres > NLP laboratory - NAIST > http://www.bahasara.org > ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. 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