You can use the simulation iface to get the true position of models in gazebo.
Take a look at the example here: <gazebo_sources>/examples/libgazebo/simiface -nate On Tue, Mar 31, 2009 at 9:19 AM, ximengzhu <[email protected]> wrote: > > 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. > > > ------------------------------------------------------------------------------ > 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 > ------------------------------------------------------------------------------ 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
