Hi,
I found a little bug in Gazebo: If you reset the the simulation in a batch
experiment (in Python with "sim.data.reset = 1") then only the positions are
resetted, not the odometry of the Pioneer2DX. Because of that I implemented
the following (as Pioneer2DXE):
void Pioneer2DXE::SetPose( GzPose pose )
{
Model::SetPose(pose);
int isXInitVal = pose.pos.x == this->initPose.pos.x;
int isYInitVal = pose.pos.y == this->initPose.pos.y;
int isZInitVal = pose.pos.z == this->initPose.pos.z;
if (isXInitVal && isYInitVal % isZInitVal)
{
this->resetOdometry();
}
}
void Pioneer2DXE::resetOdometry()
{
// Reset odometric pose
this->odomPose[0] = 0.0;
this->odomPose[1] = 0.0;
this->odomPose[2] = 0.0;
// Reset odometric velocity
this->odomVel[0] = 0.0;
this->odomVel[1] = 0.0;
this->odomVel[2] = 0.0;
}
This, of course, only works with a virtual SetPose()
public: virtual void SetPose( GzPose pose );
in Model.hh. In all the gazebo versions, however, it is not virtual.
Is there some rationale behind that? Is it ok, if it is changed in the
repository?
With kind regards,
wr
-------------------------------------------------------------------------
This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
Build the coolest Linux based applications with Moblin SDK & win great prizes
Grand prize is a trip for two to an Open Source event anywhere in the world
http://moblin-contest.org/redirect.php?banner_id=100&url=/
_______________________________________________
Playerstage-gazebo mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
