Hello, In order to improve speed, Gazebo estimates some of the laser range readings. This can be altered.
Look in worlds/models/sicklms200.model. In the <sensor> section there are two tags: <rayCount> and <rangeCount>. <rayCount> Is the number of actual rays Gazebo uses to generate range data. <rangeCount> Is the number of range values the Gazebo should make available to player (or libgazebo). If <rayCount> is less than <rangeCount>, the Gazebo will interpolate the remaining values. <rayCount> should not be more than <rangeCount>, otherwise you'll be generating a lot of useless data. So, if you want more accuracy, set <rayCount> == <rangeCount> -nate On Sun, Aug 24, 2008 at 6:28 PM, Cameron Stone <[EMAIL PROTECTED]> wrote: > Hi. > > I'm having a problem with the simulated laser range finder in gazebo. The > laser range data gets crappy around about 4 meters away, for objects at a > reasonably acute angle to the sensor (45degrees). After that point, you get > multiple adjacent laser ranges with exactly the same length, and the > values "step" as you move along the line. See the attached image from > playerv. It's almost as if the raygeoms are too "wide", except that that > doesn't seem possible from looking at the ode docs or source code. > > This is causing problems in my experiments because there is a bias towards > short ranges in the region described which is warping my estimations of lines > extracted from that data. > > Anyone have any ideas? > > Cameron. > -- > =================================================================== > > What would the world be like if everyone were enlightened? Exactly > what it is now, except that you would not need to ask that > question. > > Cameron Stone <[EMAIL PROTECTED]> > =================================================================== > > ------------------------------------------------------------------------- > 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 > > ------------------------------------------------------------------------- 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
