Hello I have tried it now, revision 7597 and have some things to report. The laser seems to behave correctly with resRange set to 1. The -g option also worked to disable gui. I found some "bugs" to:
1. The resRange parameter is missing from the hokuyo-urg-04l.model. 2. When I set an object (box or sphere) to static the visuals and geometry are placed exactly 2 times the given <xyz> value but the laser still hits the object at the specified location. If I select the object in gazebo the bounding box is drawn around the visual at 2*<xyz>. If I use <static> false its OK. Static objects are not standing still though. The are slowly rotating and moving around. 3. I dont know if this is a bug but, why do some objects (boxes usually) slowly move around or rotate (when <static> = false). Trying to build obstacle courses with non static objects is difficult as the obstacles move around. 4. When an object is selected and I drag or scroll the mouse to move it, gazebo crashes with the following error “ODE INTERNAL ERROR 2: invalid operation for locked space in dGeomMoved()”. Usually it does not crash right away but after about one second of movement. 5. During installation the contents of /usr/local/share/gazebo does not seem to be updated. Som new LaserBlue color was missing , and the new sicklms model file with resRange was not included. (I had to manually copy and replace the files). I am using Kubuntu 8.04. Thanks Peter Nordin Nate Koenig wrote: > 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 > ------------------------------------------------------------------------------ This SF.net email is sponsored by: High Quality Requirements in a Collaborative Environment. 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