Hello, Try using a smaller steptime.
-nate On Tue, May 19, 2009 at 1:08 PM, rbpRenato <[email protected]> wrote: > > Hello, > > It is my code, the problem is that i get a error runnig this example, > the error is: > > ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in > _dNormalize3() [../../include/ode/odemath.h] > Aborted > > But, if i change hinge2 on the model robot body1 whith body 2 it wokrs but > in bad, the front wheels turn in bad configuration. Someone could help me? > > world: > > <?xml version="1.0"?> > > <gazebo:world > xmlns:xi="http://www.w3.org/2001/XInclude"; > xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; > xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"; > xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"; > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"; > xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"; > > xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; > > xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; > > xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; >> > > <verbosity>5</verbosity> > > <physics:ode> > <stepTime>0.03</stepTime> > <gravity>0 0 -9.8</gravity> > <cfm>10e-5</cfm> > <erp>0.3</erp> > </physics:ode> > > <rendering:gui> > <type>fltk</type> > <size>800 600</size> > <pos>0 0</pos> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > </rendering:gui> > > <rendering:ogre> > <ambient>0.5 0.5 0.5 1.0</ambient> > <sky> > <material>Gazebo/CloudySky</material> > </sky> > </rendering:ogre> > > <!-- > <model:physical name="terrain_model"> > <body:heightmap name ="terrain_body"> > <geom:heightmap name="terrain_geom"> > <image>terrain.png</image> > <worldTexture>terrain_texture.jpg</worldTexture> > <detailTexture>terrain_detail.jpg</detailTexture> > <size>17 17 1</size> > </geom:heightmap> > </body:heightmap> > </model:physical> > --> > > <!-- Ground Plane --> > <model:physical name="plane1_model"> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > <static>true</static> > > <body:plane name="plane1_body"> > <geom:plane name="plane1_geom"> > <normal>0 0 1</normal> > <size>2000 2000</size> > <segments>10 10</segments> > <uvTile>1000 1000</uvTile> > <material>Gazebo/Terran</material> > </geom:plane> > </body:plane> > </model:physical> > > <model:physical name="obstaculo"> > <xyz>3.0 0.0 0.5</xyz> > <rpy>0.0 0.0 0.0</rpy> > <body:plane name="obstaculo"> > <geom:box name="obstaculo_geom"> > <size>0.5 0.5 0.5</size> > <mass>1.0</mass> > <visual> > <size>0.5 0.5 0.5</size> > <mesh>unit_box</mesh> > <material>Gazebo/Rockwall</material> > </visual> > </geom:box> > </body:plane> > </model:physical> > > <model:physical name="sphere1_model"> > <xyz>3 3 0.5</xyz> > <static>false</static> > <body:sphere name="sphere1_body"> > <geom:sphere name="sphere1_geom"> > <size>0.2</size> > <mass>1.0</mass> > > <visual> > <scale>0.2 0.2 0.2</scale> > <material>Gazebo/BumpyMetal</material> > <mesh>unit_sphere</mesh> > </visual> > </geom:sphere> > </body:sphere> > </model:physical> > > <!-- > Include the complete model described in the .model file > This assumes the root node is a <model:...> > --> > <!-- <include embedded="false"> > <xi:include href="pioneer2dx.model" /> > </include> > --> > > <model:physical name="lince_model"> > <xyz>0.00 0.00 0.00</xyz> > <rpy>0 0 0</rpy> > > <controller:steering_position2d name="a car"> > <wheel> > <joint>rear_left_wheel_hinge</joint> > <type>drive</type> > <torque>10</torque> > </wheel> > <wheel> > <joint>rear_right_wheel_hinge</joint> > <type>drive</type> > <torque>10</torque> > </wheel> > <wheel> > <joint>front_left_wheel_hinge</joint> > <type>steer</type> > <torque>0</torque> > <steerTorque>1</steerTorque> > </wheel> > <wheel> > <joint>front_right_wheel_hinge</joint> > <type>steer</type> > <torque>0</torque> > <steerTorque>1</steerTorque> > </wheel> > > <steerPD>10 0.0</steerPD> > > <!-- Henrik params start --> > > <leftOdomJoint>front_left_wheel_hinge</leftOdomJoint> > <rightOdomJoint>front_right_wheel_hinge</rightOdomJoint> > <odomWheelSeparation>0.2</odomWheelSeparation> > <odomWheelDiameter>0.15</odomWheelDiameter> > <leftSteeringOdomJoint>front_left_wheel_hinge</leftSteeringOdomJoint> > <rightSteeringOdomJoint>front_right_wheel_hinge</rightSteeringOdomJoint> > > <!-- Henrik params stop --> > > <interface:position name="position_iface_0"/> > > <!-- Henrik params start --> > <interface:actarray name="wheels_actarray_iface"/> > <!-- Henrik params stop --> > > </controller:steering_position2d> > <!-- > <model:physical name="sonyvid30_model"> > <xyz>0.0 0.0 0.30</xyz> > <attach> > <parentBody>chassis_body</parentBody> > <myBody>sonyvid30_body</myBody> > </attach> > > <include embedded="true"> > <xi:include > href="/home/renato/Desktop/LINCE_PG/models/sonyvid30.model" /> > </include> > > </model:physical> > --> > <model:physical name="laser"> > <xyz>0.22 0.0 0.15</xyz> > <attach> > <parentBody>chassis_body</parentBody> > <myBody>laser_body</myBody> > </attach> > > <include embedded="true"> > <xi:include href="models/hokuyo.model"/> > </include> > > </model:physical> > > <include embedded="true"> > <xi:include href="models/lince.model"/> > </include> > > </model:physical> > > <!-- White Directional light --> > <model:renderable name="directional_white"> > <light> > <type>directional</type> > <direction>0 -0.8 -0.3</direction> > <diffuseColor>0.9 0.9 0.9</diffuseColor> > <specularColor>0.0 0.0 0.0</specularColor> > <attenuation>10 0.0 1.0 0.4</attenuation> > </light> > </model:renderable> > > </gazebo:world> > > model: > > <?xml version="1.0"?> > > <!-- Generic Car Model --> > <model:physical name="default_lince_model" > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > xmlns:visual="http://playerstage.sourceforge.net/gazebo/xmlschema/#visual"; >> > > <xyz>0.0 0.0 0.0</xyz> > <rpy>0.0 0.0 0.0</rpy> > > <canonicalBody>chassis_body</canonicalBody> > > <body:box name="chassis_body"> > <geom:box name="chassis_baixo"> > <xyz>0 0 0.05</xyz> > <rpy>0 0 0</rpy> > <size>0.3 0.1 0.1</size> > <mass>1.0</mass> > <visual> > <size>0.3 0.1 0.1</size> > <mesh>unit_box</mesh> > <material>Gazebo/White</material> > </visual> > </geom:box> > > <geom:box name="chassis_cima"> > <xyz>0 0 0.125</xyz> > <rpy>0 0 0</rpy> > <size>0.5 0.15 0.05</size> > <mass>0.5</mass> > <visual> > <size>0.5 0.15 0.05</size> > <mesh>unit_box</mesh> > <material>Gazebo/White</material> > </visual> > </geom:box> > > <geom:box name="base"> > <xyz>0 0 0.155</xyz> > <rpy>0 0 0</rpy> > <size>0.50 0.30 0.01</size> > <mass>1</mass> > <visual> > <size>0.50 0.30 0.01</size> > <mesh>unit_box</mesh> > <material>Gazebo/Black</material> > </visual> > </geom:box> > > <geom:box name="pc"> > <xyz>-0.025 0.0 0.2</xyz> > <rpy>0 0 0</rpy> > <size>0.20 0.25 0.08</size> > <mass>1</mass> > <visual> > <size>0.20 0.25 0.08</size> > <mesh>unit_box</mesh> > <material>Gazebo/Black</material> > </visual> > </geom:box> > > </body:box> > > > <body:cylinder name="rear_left_wheel"> > <xyz>-0.17 -0.15 0</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="rear_left_wheel_geom"> > <size>0.075 0.075</size> > <mass>0.2</mass> > <mu1>0.2</mu1> > > <visual> > <rpy>90 0 0</rpy> > <size>0.17 0.1 0.17</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 0.015</xyz> > <size>0.04 0.04 0.08 </size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > > </geom:cylinder> > </body:cylinder> > > <body:cylinder name="front_left_wheel"> > <xyz>0.17 -0.15 0</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="front_left_wheel_geom"> > <size>0.075 0.075</size> > <mass>0.2</mass> > <mu1>0.2</mu1> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.17 0.1 0.17</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 0.015</xyz> > <size>0.04 0.04 0.08 </size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > > </geom:cylinder> > </body:cylinder> > > <body:cylinder name="rear_right_wheel"> > <xyz>-0.17 0.15 0</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="rear_right_wheel_geom"> > <size>0.075 0.075</size> > <mass>0.2</mass> > <mu1>0.2</mu1> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.17 0.1 0.17</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>-90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 0.015</xyz> > <size>0.04 0.04 0.08 </size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > > </geom:cylinder> > </body:cylinder> > > <body:cylinder name="front_right_wheel"> > <xyz>0.17 0.15 0</xyz> > <rpy>0 90 90</rpy> > > <geom:cylinder name="front_right_wheel_geom"> > <size>0.075 0.075</size> > <mass>0.2</mass> > <mu1>0.2</mu1> > > <visual> > <rpy>90 0 0</rpy> > <size>0.17 0.1 0.17</size> > <mesh>Pioneer2dx/tire.mesh</mesh> > <material>Gazebo/Black</material> > </visual> > > <visual> > <rpy>90 0 0</rpy> > <size>0.073 0.05 0.073</size> > <mesh>Pioneer2at/wheel.mesh</mesh> > <material>Gazebo/Gold</material> > </visual> > > <visual> > <rpy>0 0 0</rpy> > <xyz>0 0 0.015</xyz> > <size>0.04 0.04 0.08 </size> > <mesh>unit_cylinder</mesh> > <material>Gazebo/Black</material> > </visual> > > </geom:cylinder> > </body:cylinder> > > <joint:hinge2 name="front_left_wheel_hinge"> > <body1>chassis_body</body1> > <body2>front_left_wheel</body2> > <anchor>front_left_wheel</anchor> > <anchorOffset>0 0.005 0</anchorOffset> > <axis1>0 0 1</axis1> > <axis2>0 1 0</axis2> > <lowStop1>-30</lowStop1> > <highStop1>30</highStop1> > <lowStop2>0</lowStop2> > <highStop2>0</highStop2> > <erp>0.8</erp> > <cfm>10e-5</cfm> > </joint:hinge2> > > <joint:hinge2 name="front_right_wheel_hinge"> > <body1>chassis_body</body1> > <body2>front_right_wheel</body2> > <anchor>front_right_wheel</anchor> > <anchorOffset>0 -0.005 0</anchorOffset> > <axis1>0 0 1</axis1> > <axis2>0 1 0</axis2> > <lowStop1>-30</lowStop1> > <highStop1>30</highStop1> > <lowStop2>0</lowStop2> > <highStop2>0</highStop2> > <erp>0.8</erp> > <cfm>10e-5</cfm> > </joint:hinge2> > > <joint:hinge name="rear_right_wheel_hinge"> > <body2>chassis_body</body2> > <body1>rear_right_wheel</body1> > <anchor>rear_right_wheel</anchor> > <anchorOffset>0 0.05 0</anchorOffset> > <axis>0 1 0</axis> > <erp>0.8</erp> > <cfm>0.1</cfm> > </joint:hinge> > > <joint:hinge name="rear_left_wheel_hinge"> > <body2>chassis_body</body2> > <body1>rear_left_wheel</body1> > <anchor>rear_left_wheel</anchor> > <anchorOffset>0 0.005 0</anchorOffset> > <axis>0 1 0</axis> > <erp>0.8</erp> > <cfm>0.1</cfm> > </joint:hinge> > > </model:physical> > -- > View this message in context: > http://www.nabble.com/Controler-Steer_Position2d-and-Hinge2-tp23623406p23623406.html > Sent from the playerstage-gazebo mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Register Now for Creativity and Technology (CaT), June 3rd, NYC. 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