Hello,
Are you using gazebo-0.7? If so, you might want to switch over to the
latest version of gazebo. This problem and many others have been
fixed.
-nate
On Wed, Aug 13, 2008 at 2:12 AM, Willi Richert <[EMAIL PROTECTED]> wrote:
> 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
>
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