In the simulation the beams of each laser are spread over 30 degrees and the lasers are pointing to the correct directions.
But the laser-position info doesn't seem to arrive at drivers like nd or amcl. When looking at the amcl_laser.cc source file, it is requesting PLAYER_LASER_REQ_GET_GEOM (see AMCLLaser::Setup(void) ) and it is using this info to set an offset to angle and position. At the sicklms200 driver for example, this geometry info is set in the player-config file. Is gazebo forwarding this laser geometry info from the world file? Nate Koenig wrote: > > Hello, > > You should be able to set the pose of each laser in your gazebo world > file. When you get the data, it's up to you to interpret it properly. > > Do all the laser beams point forward in the simulation? > > -nate > > On Tue, Dec 9, 2008 at 8:13 AM, PeteSahat <[email protected]> wrote: >> >> Hi, >> >> we're building a robot which has six sonar-sensors in different headings >> around the bot. Right now we're simulating them with sick-lasers in >> gazebo. >> The problem is, that the data arrives at playerv all heading to the same >> direction (to the front), altough they are correctly defined in the >> gazebo >> worldfile heading to different directions. >> >> In the player-config file, if I were using a real Sick-Laser, I could set >> the laser position in the "sicklms200" driver, via this parameter: >> pose (length tuple) >> * Default: [0.0 0.0 0.0] >> * Pose (x,y,theta) of the laser, relative to its parent object (e.g., >> the robot to which the laser is attached). >> >> Is there a similar parameter for my gazebo-laser which I can configure at >> the player-config? >> -- >> View this message in context: >> http://www.nabble.com/Laser-sensors-in-different-directions-tp20915654p20915654.html >> Sent from the playerstage-gazebo mailing list archive at Nabble.com. >> >> >> ------------------------------------------------------------------------------ >> SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, >> Nevada. >> The future of the web can't happen without you. Join us at MIX09 to help >> pave the way to the Next Web now. Learn more and register at >> http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ >> _______________________________________________ >> Playerstage-gazebo mailing list >> [email protected] >> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo >> > > ------------------------------------------------------------------------------ > SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, > Nevada. > The future of the web can't happen without you. Join us at MIX09 to help > pave the way to the Next Web now. Learn more and register at > http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > -- View this message in context: http://www.nabble.com/Laser-sensors-in-different-directions-tp20915654p21081761.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
