Hello
I'm using player and gazebo svn version 6728.
I am trying to use fiducials to identify objects. When I try to get the
count of the identified objects using GetCount() method it always returns 0,
even if the object is just in front of the laser.
Another problem is that reading data from laser fails very often with a
segmentation fault; but after 2-3 tries it works fine.
The relevant portions of code are as follows
world file:
<model:physical name="box1_model">
<xyz>2 0 0.25</xyz>
<canonicalBody>box1_body</canonicalBody>
<static>false</static>
<body:box name="box1_body">
<geom:box name="box1_geom">
<size>0.35 0.35 0.35</size>
<mass>0.01</mass>
<visual>
<mesh>unit_box</mesh>
<size>0.35 0.35 0.35</size>
<material>Gazebo/BumpyMetal</material>
</visual>
</geom:box>
</body:box>
<fiducial>4</fiducial>
</model:physical>
laser model:
<sensor:ray name="laser_2">
<rayCount>180</rayCount>
<rangeCount>361</rangeCount>
<origin>0.05 0.0 0</origin>
<minAngle>-90</minAngle>
<maxAngle>90</maxAngle>
<minRange>0.1</minRange>
<maxRange>8</maxRange>
`
<controller:sicklms200_laser name="laser_controller_2">
<interface:laser name="laser_iface_1"/>
<interface:fiducial name="fiducial_iface_1"/>
</controller:sicklms200_laser>
</sensor:ray>
gazebo.cfg
driver
(
name "gazebo"
provides ["fiducial:0"]
gz_id "fiducial_iface_1"
)
driver
(
name "gazebo"
provides ["laser:1"]
gz_id "laser_iface_1"
)
Client
#include<libplayerc++/playerc++.h>
using namespace std;
using namespace PlayerCc;
PlayerClient robot("localhost",6665);
LaserProxy lpl(&robot,1);
FiducialProxy fp(&robot,0);
int main(){
double array[361];
for(;;)
{
robot.Read();
for(int i=0;i<361; i++)
{
array[i]=lpl.GetRange(i);
}
cout<<fp.GetCount()<<" object(s) detected"<<endl;
if(fp.GetCount()!=0)
{ cout<<"detected"<<endl;
return -1;
}
}
}
Am I doing something wrong somewhere?
Thanks in advance
Sanchit
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