That's disturbing. Apart from obvious things, like checking for variables
defined statically or outside the class scope, I dont know what to
suggest. If you point me to a tarball of your source tree, I could take a
quick look.
A.
On Wed, 5 May 2004, Patrick Deegan wrote:
> Hi-
>
> I've used the latest SegwayRMP as a base to make a new model of a robot I
> have built. I also have made a model of a small two-link arm that is
> going ontop of the robot. What I've noticed is that when I have more than
> one instantiation of either model in the *.world file, the models act as
> though they are coupled and they fail to dynamically balance. That is, I
> can start both models from different angles, but they both start to shake
> until they line up and then both fall over at the same time.
>
> Here is what my *.world file looks like:
> ...
> <model:BaluBot>
> <id>robot1</id>
> <pos>0 0 0.12</pos>
> <rot>0 0 90</rot>
> </model:BaluBot>
>
> <model:BaluBot>
> <id>robot2</id>
> <pos>1.0 1.0 0.12</pos>
> <rot>0 0 90</rot>
> </model:BaluBot>
> ...
>
> I also have the same problem when I start gazebo with with the simple arm
> and one of the BaluBot models, i.e:
>
> ...
> <model:BaluBot>
> <id>robot1</id>
> <pos>0 0 0.12</pos>
> <rot>0 0 90</rot>
> </model:BaluBot>
>
> <model:ArmuBot>
> <id>robot2</id>
> <pos>0.5 -0.5 0.01</pos>
> <rot>0 0 0</rot>
> </model:ArmuBot>
> ...
>
> When I start gazebo with only one BaluBot it runs fine. I can ALSO start
> gazebo with two SegwayRMP models and things work fine.
>
> I am using a call like:
>
> this->linkJoints[0]->SetParam( dParamVel, torque[0] );
>
> to update the wheel and joint velocities of the BaluBot and ArmuBot
> respectively. I have looked at various variables to make sure that somehow
> Gazebo doesn't "overlay" the two models, i.e:
>
> void HingeJoint::SetParam( int parameter, double value )
> {
> dJointSetHingeParam( this->jointId, parameter, value );
> }
>
> but the hinges of each joint have distinct ids and are receiving different
> values.
>
> I am stuck here and would appreciate any suggestions on how I might debug
> this.
>
> Thanks,
> -Patrick
>
>
>
>
> -------------------------------------------------------
> This SF.Net email is sponsored by Sleepycat Software
> Learn developer strategies Cisco, Motorola, Ericsson & Lucent use to deliver
> higher performing products faster, at low TCO.
> http://www.sleepycat.com/telcomwpreg.php?From=osdnemail3
> _______________________________________________
> Playerstage-gazebo mailing list
> Playerstage-gazebo@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
Andrew Howard email: ahoward@...
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
<< Insert pithy saying here >>>
|