Regarding question 1: There is a bug that also affects range, although I
don't think it is what causes your error:
http://sourceforge.net/tracker/?func=detail&aid=2669889&group_id=42445&atid=433166
Stephan
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:http://sourceforge.net/tracker/?func=detail&aid=2669889&group_id=42445&atid=433166
>
> 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
>
>
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