Re: [PlayerStage-Gazebo] SetOdometry does not seem to work in Gazebo
Hello, Yup, you are right. Set and Reset odometry are not implemented in Gazebo. It should be relatively easy to add, just look in the player directory of the gazebo sources. -nate On 7/13/07, Nathaniel Troutman <[EMAIL PROTECTED]> wrote: > I've noticed the same thing. I'm not trying to physically move the robot, I > just am trying to zero-out/reset the odometry readings. This is especially > important as reseting the Gazebo server doesn't reset to rotation of an > objects pose. It does physically in the world, but not in the odometry > readings. Calls to setOdometry and ResetOdometry return a NARM message, which > I believe indicates that the gz_position interface doesn't implement the > set/reset commands for odometry. > > Nathaniel Troutman > > > > > > > Need a vacation? Get great deals > to amazing places on Yahoo! Travel. > http://travel.yahoo.com/ > > - > This SF.net email is sponsored by DB2 Express > Download DB2 Express C - the FREE version of DB2 express and take > control of your XML. No limits. Just data. Click to get it now. > http://sourceforge.net/powerbar/db2/ > ___ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > - This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ ___ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
Re: [PlayerStage-Gazebo] SetOdometry does not seem to work in Gazebo
I've noticed the same thing. I'm not trying to physically move the robot, I just am trying to zero-out/reset the odometry readings. This is especially important as reseting the Gazebo server doesn't reset to rotation of an objects pose. It does physically in the world, but not in the odometry readings. Calls to setOdometry and ResetOdometry return a NARM message, which I believe indicates that the gz_position interface doesn't implement the set/reset commands for odometry. Nathaniel Troutman Need a vacation? Get great deals to amazing places on Yahoo! Travel. http://travel.yahoo.com/ - This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ ___ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
Re: [PlayerStage-Gazebo] SetOdometry does not seem to work in Gazebo
Hi,
It is true that you can use the world file to put the robot in a position of
the environment but also I want to initialize the odometry to that position.
I tried different things and in all the cases the robot starts with position
0,0,0:
1. Set a position in the world file and not call to the functions
ResetOdometry and SetOdometry.
2. Call SetOdometry and not ResetOdometry with the position the same as the
one in the world file.
3. Call SetOdometry and not ResetOdometry with the position different from
the one specified in the world file.
4. Call ResetOdometry and then SetOdometry with the position the same as the
one in the world file.
5. Call ResetOdometry and then SetOdometry with the position different from
the one specidfied in the world file.
As I said before in all these 5 cases, the result was that the robot starts
its position as 0,0,0.
Is it the regular behavior?. Is it suppose that I have to initialize the
odometry by hand in the client program?.
Regards, Antidio.
Nate Koenig-2 wrote:
>
> Hello,
>
> Are you trying to use the Position3D interface to set the global
> location of each robot? If this is the case, then you should set the
> starting location of each robot via the world file.
>
> -nate
>
> On 4/1/07, Antidio <[EMAIL PROTECTED]> wrote:
>>
>> Hi,
>>
>> I am trying to simulate different robots with Gazebo. I am using the
>> ClientProxy Position3D for each of the robots. My problem is that the
>> position initialization (SetOdometry) with Position3D does not work well.
>> I
>> simulate the same code with Stage and Position2D and it works fine (the
>> robot initialize their odometry with the values that I indicate).
>>
>> Part of the code is:
>>
>> robot = new
>> PlayerClient("localhost",PLAYER_PORTNUM+params.robot_params.robot_id-1);
>> robot->SetDataMode(PLAYER_DATAMODE_PULL);
>> robot->SetReplaceRule(false, -1, PLAYER_MSGTYPE_DATA, 1);
>>
>> #ifdef STAGE
>> pp = new Position2dProxy(robot,0);
>> #endif
>> #ifdef GAZEBO
>> pp = new Position3dProxy(robot,0);
>> #endif
>>
>> pp->ResetOdometry();
>> params1=params;
>> #ifdef STAGE
>> pp->SetOdometry(params.longitude, params.latitude,
>> params.orientation);
>> #endif
>> #ifdef GAZEBO
>> pp->SetOdometry(params.longitude, params.latitude, 0.234, 0.0,
>> 0.0,
>> params.orientation);
>> #endif
>>
>> However, in both cases I can read the current position of the
>> robots
>> without any problem and when the robots move I read the correct values.
>> But
>> as I said before with Position3D and Gazebo all the robots start their
>> position at the point (0,0,0) instead at the values I would like to.
>>
>> Any ideas?, do I miss something?
>>
>> Thanks in advance, Antidio.
>> --
>> View this message in context:
>> http://www.nabble.com/SetOdometry-does-not-seem--to-work-in-Gazebo-tf3503187.html#a9783831
>> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>>
>>
>> -
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>>
>
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Sent from the playerstage-gazebo mailing list archive at Nabble.com.
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Re: [PlayerStage-Gazebo] SetOdometry does not seem to work in Gazebo
Hello,
Are you trying to use the Position3D interface to set the global
location of each robot? If this is the case, then you should set the
starting location of each robot via the world file.
-nate
On 4/1/07, Antidio <[EMAIL PROTECTED]> wrote:
>
> Hi,
>
> I am trying to simulate different robots with Gazebo. I am using the
> ClientProxy Position3D for each of the robots. My problem is that the
> position initialization (SetOdometry) with Position3D does not work well. I
> simulate the same code with Stage and Position2D and it works fine (the
> robot initialize their odometry with the values that I indicate).
>
> Part of the code is:
>
> robot = new
> PlayerClient("localhost",PLAYER_PORTNUM+params.robot_params.robot_id-1);
> robot->SetDataMode(PLAYER_DATAMODE_PULL);
> robot->SetReplaceRule(false, -1, PLAYER_MSGTYPE_DATA, 1);
>
> #ifdef STAGE
> pp = new Position2dProxy(robot,0);
> #endif
> #ifdef GAZEBO
> pp = new Position3dProxy(robot,0);
> #endif
>
> pp->ResetOdometry();
> params1=params;
> #ifdef STAGE
> pp->SetOdometry(params.longitude, params.latitude,
> params.orientation);
> #endif
> #ifdef GAZEBO
> pp->SetOdometry(params.longitude, params.latitude, 0.234, 0.0, 0.0,
> params.orientation);
> #endif
>
> However, in both cases I can read the current position of the robots
> without any problem and when the robots move I read the correct values. But
> as I said before with Position3D and Gazebo all the robots start their
> position at the point (0,0,0) instead at the values I would like to.
>
> Any ideas?, do I miss something?
>
> Thanks in advance, Antidio.
> --
> View this message in context:
> http://www.nabble.com/SetOdometry-does-not-seem--to-work-in-Gazebo-tf3503187.html#a9783831
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
> -
> Take Surveys. Earn Cash. Influence the Future of IT
> Join SourceForge.net's Techsay panel and you'll get the chance to share your
> opinions on IT & business topics through brief surveys-and earn cash
> http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV
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>
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