I can only answer question three. Currently if you look at the drivers which let gazebo work as a player plugin, there is no support for perfect odometry. Thus, you have errors that will accumulate over time, I believe there were some mentions of tuning the update rate, etc, to obtain a time based near perfect odometry.
Thank You, Richard Edwards Peter Nordin wrote: > Hello everyone > > > I recently began using gazebo, (two days ago) and I have run into some > problems that I hope someone can help me solve. I am using the SVN head > version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu > 8.04 64-bit system. > > > My first question has to do with the max range setting on the sicklms200 > laser. > > I want to mimic my real laser that is set to scan up to 80 meters. When > I set the max range in my gazebo .world file the “laser beams” in gazebo > seems to have the correct length. But when I connect gazebo to a player > server and us a client to read the laser data, all range readings are > divided by 10. My maximum range will be 8 meters. If I set the max value > to 20 meters in gazebo my maximum range from player will be 2 meters. If > I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to > 8 meters (the default value) the range readings are not divided by 10 > and the correct ranges are given. Why does the “range unit” change > depending on max range setting. This does not happen on my real laser. > > > Second question: > > In the help files at the web page it is said that the GUI can be > deactivated if you omit the <rendering:gui> section. When I do this > Gazebo crashes with the following message: > > How do I make it work? > > > [server/GazeboConfig.cc:84] > > Gazebo Path[/usr/local/share/gazebo] > > [server/GazeboConfig.cc:92] > > Ogre Path[/usr/lib/OGRE] > > gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager& > Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed. > > Aborted > > > Third question: > > I am using a client that is following a set of lines created between > waypoints in the world coordinate system. Once it reach the end of the > track the order of waypoints is reversed and the robot goes back to the > beginning and so on. I have noticed after running the simulation for a > few minutes that the track seems to have drifted. The question is. Does > gazebo include drift, noise, uncertainty, or slip in the odometry > calculations? (I am using a world file based on the pioneer2dx robot > (with the addition of one laser). The client program is only using the > odometry for positioning in the track. > > > Thank you for your help > > Peter > > > ------------------------------------------------------------------------------ > Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are > powering Web 2.0 with engaging, cross-platform capabilities. Quickly and > easily build your RIAs with Flex Builder, the Eclipse(TM)based development > software that enables intelligent coding and step-through debugging. > Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------------ Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are powering Web 2.0 with engaging, cross-platform capabilities. Quickly and easily build your RIAs with Flex Builder, the Eclipse(TM)based development software that enables intelligent coding and step-through debugging. Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
