Hello, Answer 1: SVN Gazebo has "fixed" the range problem with the laser. In the laser model file (sicklms200.model), there is now a parameter called <resRange>. This parameter specifies the resolution of the range reading. Basically, the range readings are divided by the <resRange> parameter. You can access the range resolution parameter via the LaserProxy.
Answer 2: The gui can be deactivated using the -g command line argument. -nate On Wed, Mar 25, 2009 at 1:59 AM, Peter Nordin <[email protected]> wrote: > I was trying to improve odometry a bit and was reading the documentation > for ODE. I was also looking around in som .cc files and found that if > you omit the <mu1>***</mu1> setting in your model the friction > coefficient will default to Infinity. I also found a <slip1> and <slip2> > setting to tune how much a body i allowed to slip. By decreasing this > value (default was 0.1) my odometry was improved. Inf friction and very > little slip means that the wheel based odometry gets better. It was not > perfect though and I was not able to decrease slip to much (cause then > it is not possible to turn) some slip must be allowed to happen if you > want to turn the wheels. > > Anyway thanks for your reply I will try tuning the step time too. > If anyone else have any clue about the other questions, particularly the > first one about the laser range, I would be happy to know. > > Thank You, > Peter Nordin > > Richard Edwards wrote: >> 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 >> > > > ------------------------------------------------------------------------------ > 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 > ------------------------------------------------------------------------------ This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. Download a free trial of Rational Requirements Composer Now! http://p.sf.net/sfu/www-ibm-com _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
