Hello all,
I'm new to gazebo and I'm trying to simulate a pioneer in a 3d environment.
I'm using the last svn version (7561) on ubuntu 8.10, player 2.1.1, ogre1.6
and ode0.11. I need to use the pioneer on a heightmap, receiving GPS and imu
measures.
I'm experimenting some issues in this work:
first, I've read that gps and imu are not supported yet, so I'm trying to
get the true 3d position from the simulator. However, I can't understand
which controller I can use to get the 3d pose of the pioneer. The following
is the model of the pioneer I'm using.
<model:physical name="pioneer2dx_model1">
<xyz>0 0 1.145</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>
<include embedded="true">
<xi:include href="../positions/pioneer2dx.model" />
</include>
</model:physical>
Of course, the pioneer2dx.model file is the standard model.
the player cfg file that I use is:
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
alwayson 1
)
driver
(
name "gazebo"
provides ["position3d:0"]
gz_id "position_iface_0"
)
However, when I read the position in my c++ project I always get the z, roll
and pitch at 0.0. I think it is a problem of the controller (probably it is
stupid to use a 2d controller to get a position3d, isn't it?) but I can't
understand the right controller to use.
Second, I've tried to put the pioneer on a height map, but there is no
collision between the pioneer and the map. More, I've tried to put a ground
plane at 1 m of elevation, (also the pioneer of course), but still no
collision. In both cases, the result is that the pioneer falls on the ground
plane at elevation 0.
Any idea or suggestion?
My best regards,
XimengZhu (alias Paolo)
--
View this message in context:
http://www.nabble.com/Using-pioneer-with-position3D-on-height-map-tp22805219p22805219.html
Sent from the playerstage-gazebo mailing list archive at Nabble.com.
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