There is no Truth sensor and it will be useful for a number of people.
Making a Truth sensor is a matter of knowing the pose of the Model.
As Sensor is a child of Body which is a child of Model (the hierarchy of
objects on Gazebo and tags on XML is pretty much the same), you just have to
do something like:
Pose3d globalPose = parent->parent->GetPose()
+parent->parent->GetInitPose();
Now if you take a look to a couple of controllers you'll see the code is
always pretty similar and plainly easy, wrap this functionality on a new
controller ( position3d or truth interface?) and contribute the patch :P
On Fri, Jun 13, 2008 at 12:05 AM, Michael Sheldon <[EMAIL PROTECTED]>
wrote:
> Hi Hemant,
>
> Hemant Agrawal wrote:
> > Hello list!!
> >
> > I am using player-gazebo to simulate the working of a pioneer 2at
> > model. In the class Position2dProxy the functions GetXPos() and
> > GetYPos() return very different values as the coordinates seen from
> > the camera or world.
> > A sample output of GetXPos() and GetYPos() is as follows (according to
> > the world robot is standing at 1,1 ):
> > 0.0929119 -0.246348
> > Am I interpreting the values correctly or i need to apply any
> > transform to arrive at regular values??
>
> As far as I remember Position2D will return values with respect to the
> starting position of the robot (so if the robot is starting at 1,1 in
> the world co-ordinate system then 0,0 from position will be equivelant
> to 1,1 in the world).
>
> I think what you really want to be using is either the truth interface
> (which I think might now be deprecated) or the simulation interface to
> find the real position of the robot in the world co-ordinate system.
>
> Cheers,
> Mike.
>
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--
Jordi Polo Carres
NLP laboratory - NAIST
http://www.bahasara.org
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