Hi I did the following to fix that problem.
The patch that i applied, got the global position of the lasers, while you need the robot relative position for it to send the data to player correctly. Firstly I had to add two parameters to laser model file under <sensor:ray>. These two parameters are the <xyz> position and the <rpy> of laser relative to the robot. In sensor.cc::Load you need to load these two parameters in, and then under sensor.cc::GetPose() you need to return these two parameters as a single Pose3d. Exactly as it has been done under gazebo/server/physics/Body.cc rhys 2009/2/2 rhys <[email protected]> > > Hey > > I tried the patch. but it didnt seem to solve the problem. I have 3 lasers > in gazebo, and even after applying the patch on this, when i run playerv > and > subscribe to the lasers, all of them point to the same direction. > > Any solution to it? > > > > Nate Koenig wrote: > > > > Hello, > > > > Could you check out the latest SVN version of gazebo, and try to get > > the pose of the laser? > > > > Let me know if it doesn't work. > > > > -nate > > > > On Fri, Dec 19, 2008 at 12:04 PM, Nate Koenig <[email protected]> > > wrote: > >> Hello, > >> > >> Ahh, I misunderstood the original question. > >> > >> Gazebo is not sending the pose information. I will fix the problem > >> over the weekend. > >> > >> -nate > >> > >> > >> > >> On 12/18/08, PeteSahat <[email protected]> wrote: > >>> > >>> 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. 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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. 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