hello Ben,
Thank you, you were right, one of my mistakes was to add the
<providefeedback>true</providefeedback> tag.
The other meaningless mistake is that i was using
<joint: name="slider_sensor"/>
instead of
<joint name="slider_sensor">
</joint>
Now after i started receiving data, i have a new question.. what is
the meaning of these data??
Let's say i have one slider joint. Here's a section of my trial
libgazebo client code:
int f;
int i;
int count;
for(;;)
{
count=OpIface->data->data_count;
cout<<"data count: "<<count<<endl;
for(i=0;i<count;i++)
{
f=OpIface->data->data[i];
cout<<f<<" ";
}
cout<<endl<<endl;
usleep(1000000);
}
i am getting count=64!!
i understand i should be receiving 4 vectors containing f1,t1,f2 and
t2 with vector elements x,y,z and a 4th one (which means 16 integers).
but apparently each of the x,y,z and the 4th one is a vector with 4
values.
This is really confusing. How can i get one final value for the force?
If you can provide one, an example of a code using the opaque
interface would be really helpful.
regards
Bassam Jalgha
Hi,
I can't verify right now (not at work), but I think you have to add a
<providefeedback>true</providefeedback> tag somewhere inside your
joint:slider tag. Let me know if you still have problems. If so, I will try
and get an example from our server next time I'm at a PC with an ssh client.
Good luck,
Ben
2008/12/23 Bassam Jalgha <[email protected]>
[Hide Quoted Text]
> Hello,
> I am using Gazebo SVN.
>
> I want to create a model of a unidirectional force sensor. I have seen
> in a previous post that the best way to do it is to create a slider
> joint and then get the force information from there.
> In order to get the joint force information i have used the jointforce
> controller and the opaque interface.
>
> here is that part of my world file:
>
> <joint:slider name="slider_sensor">
> <body1>base_body</body1>
> <body2>sensor_body</body2>
> <anchor>sensor_body</anchor>
>
> <axis>0 0 1</axis>
> <lowStop>0</lowStop>
> <highStop>0.07</highStop>
> <erp>0.3</erp>
> <cfm>0.8</cfm>
> </joint:slider>
>
>
> <controller:jointforce name="joint_force">
> <joint: name="slider_sensor"/>
> <interface:opaque name="force_iface_0"/>
> </controller:jointforce>
>
> Then in my libgazebo client code i am connecting successfully to
> OpaqueIface but if i output OpIface->data->data_count i get a zero.
> and i am getting blank data with OpIface->data->data[anything].
>
> Please help me out and tell me where i am doing wrong.
> let me know if there is anything similar to what i am doing already
> available
>
> Thank you
> Bassam Jalgha
Bassam Jalgha
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