Hello everyone, while helping a friend I noticed something new. I was not
able to modify/overwrite the interface properties for the sick laser. I
know that the file is being parsed since if I just insert the controller
section (<controller:sicklms200_laser name="laser_controller_101">...
</controller:sicklms200_laser>), I am reminded that the laser controller
required a ray as its parent.
And yes "laser_iface_0" is the name that is given in
models/sicklms200.model.
Does anyone else get this behavior? Am I doing something wrong here?
<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>0.39</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>
<sensor:ray name="laser_101">
<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_101">
<interface:laser name="laser_iface_101"/>
<interface:fiducial name="fiducial_iface_101"/>
</controller:sicklms200_laser>
</sensor:ray>
<include embedded="true">
<xi:include href="models/sicklms200.model" />
</include>
</model:physical>
<include embedded="true">
<xi:include href="models/pioneer2dx.model" />
</include>
</model:physical>
$ gazebo /usr/local/share/gazebo/worlds/pioneer2dx.world
Gazebo multi-robot simulator, version 0.8-pre3
Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.
[server/GazeboConfig.cc:84]
Gazebo Path[/usr/local/share/gazebo]
[server/GazeboConfig.cc:92]
Ogre Path[/usr/lib/OGRE]
creating /tmp/gazebo-me-0
creating /tmp/gazebo-me-0/simulation.default 112 144496
creating /tmp/gazebo-me-0/position.position_iface_0 112 228
creating /tmp/gazebo-me-0/laser.laser_iface_0 112 12444
creating /tmp/gazebo-me-0/fiducial.fiducial_iface_0 112 20932
deleting /tmp/gazebo-me-0/position.position_iface_0
deleting /tmp/gazebo-me-0/laser.laser_iface_0
deleting /tmp/gazebo-me-0/fiducial.fiducial_iface_0
deleting /tmp/gazebo-me-0/simulation.default
deleting /tmp/gazebo-me-0
Done.
--
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