Hi,
I have been trying to get the pp.GoTo function working in gazebo . However
the robot fails to respond to the GoTo command. My source code , world and
cfg files will be found below :
____________________________________________________________________
#include <iostream>
#include <libplayerc++/playerc++.h>
int
main(int argc, char *argv[])
{
using namespace PlayerCc;
PlayerClient robot("localhost");
Position2dProxy pp(&robot, 1);
pp.GoTo(2,1,dtor(30));
for (;;)
{
robot.Read();
}
}
___________________________________________________________
Pioneer2dx.world
___________________________________________________________
<?xml version="1.0"?>
<gazebo:world
xmlns:xi="http://www.w3.org/2001/XInclude";
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
xmlns:interface="
http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
xmlns:rendering="
http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
xmlns:controller="
http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
xmlns:physics="
http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; >
<verbosity>5</verbosity>
<physics:ode>
<stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.8</erp>
</physics:ode>
<rendering:gui>
<type>fltk</type>
<size>640 480</size>
<pos>0 0</pos>
</rendering:gui>
<rendering:ogre>
<ambient>0.5 0.5 0.5 1.0</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
</rendering:ogre>
<!-- Ground Plane -->
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<body:plane name="plane1_body">
<geom:plane name="plane1_geom">
<normal>0 0 1</normal>
<size>2000 2000</size>
<segments>10 10</segments>
<uvTile>100 100</uvTile>
<material>Gazebo/GrassFloor</material>
</geom:plane>
</body:plane>
</model:physical>
<!-- The camera -->
<model:physical name="cam1_model">
<xyz>0.07 -1.10 0.5</xyz>
<rpy>0 12 52.5</rpy>
<static>true</static>
<body:empty name="cam1_body">
<sensor:camera name="cam1_sensor">
<imageSize>640 480</imageSize>
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
<!--<saveFrames>true</saveFrames>
<saveFramePath>frames</saveFramePath>
-->
</sensor:camera>
</body:empty>
</model:physical>
<!-- <model:physical name="cylinder1_model">
<xyz>1 -1.5 0.5</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder1_body">
<geom:cylinder name="cylinder1_geom">
<size>0.5 1</size>
<mass>1.0</mass>
<visual>
<mesh>unit_cylinder</mesh>
<material>Gazebo/RustyBarrel</material>
</visual>
</geom:cylinder>
</body:cylinder>
</model:physical> -->
<!-- <model:physical name="cylinder2_model">
<xyz>2 0 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder2_body">
<geom:cylinder name="cylinder2_geom">
<size>0.5 1</size>
<mass>1.0</mass>
<visual>
<mesh>unit_cylinder</mesh>
<material>Gazebo/RustyBarrel</material>
</visual>
</geom:cylinder>
</body:cylinder>
</model:physical> -->
<!--
Include the complete model described in the .model file
This assumes the root node is a <model:...>
-->
<!-- <include embedded="false">
<xi:include href="pioneer2dx.model" />
</include>
-->
<model:physical name="pioneer2dx_model1">
<xyz>0 0 0.145</xyz>
<rpy>0.0 0.0 0.0</rpy>
<controller:differential_position2d name="controller1">
<leftJoint>left_wheel_hinge</leftJoint>
<rightJoint>right_wheel_hinge</rightJoint>
<wheelSeparation>0.34</wheelSeparation>
<wheelDiameter>0.15</wheelDiameter>
<torque>5</torque>
<interface:position name="position_iface_0"/>
</controller:differential_position2d>
<model:physical name="laser">
<xyz>0.15 0 0.18</xyz>
<attach>
<parentBody>chassis_body</parentBody>
<myBody>laser_body</myBody>
</attach>
<include embedded="true">
<xi:include href="models/laser.model" />
</include>
</model:physical>
<!--
The include should be last within a model. All previous statements
will override those in the included file
-->
<include embedded="true">
<xi:include href="models/pioneer2dx.model" />
</include>
</model:physical>
<!-- White Directional light -->
<model:renderable name="directional_white">
<light>
<type>directional</type>
<direction>0 -0.6 -0.4</direction>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.2 0.2 0.2</specularColor>
<attenuation>1000 1.0 0.0 0</attenuation>
</light>
</model:renderable>
</gazebo:world>
___________________________________________________________________________________
.cfg file
___________________________________________________________________________________
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "position_iface_0"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "laser_iface_0"
)
Any help in this regard would be much appreciated.
Regards
Mansimar
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