Sonar model for now is a very basic one. It emulates sonar with unidirectional ray proximity sensor, so it is far from what we could observed with real sonars. I know that sonar ring is not well suited for the Pioneer1 as the robot dimensions are not the same for Pioneer2. It is very easy to hack the code a little to ajust that (actually, someone in my lab might have done this already...I'll send you a patched file if it is the case). One solution to have a more generic sonar ring could be to get sonar ring size and sonars position in the config file instead of having them hardcoded.
Hope that helps.
----- Original Message -----
From: "Mr Allwyn Fernandes" <playerstageuser@...>
Sent: Friday, June 25, 2004 1:40 AM
Subject: Re: [PlayerStage-Gazebo] Modelling Pioneer1 in Player/Gazebo
> I must remember to check the current status BEFORE saying stuff... It just
> goes to show... One should always cvs update before grepping for stuff...
> It appears that I missed the addition of the Pioneer2Sonar model... So my
> question reduces to the much simpler:
> Does anybody know how closely Pioneer2Sonar approximates a Pioneer1?
> I'm off to sit in the corner, consider my sins, and ponder the updated code...
> Thanks guys,
> On Friday 25 June 2004 15:24, Mr Allwyn Fernandes wrote:
> > Hi guys,
> > I'm wondering if anyone has tried modelling Pioneer1 robots in Gazebo? I
> > think I noticed a driver for them in Player when compiling, but not in
> > Gazebo. And while there are Pioneer2DX and AT model in Gazebo, it has the
> > sonar ring disabled...
> > I'm (going to be) working with a Pioneer1, but unfortunately it hasn't yet
> > been returned by the previous postgrad who was working with it... I was
> > hoping to get Gazebo running in the meantime, but I'm not familiar enough
> > with the robots (or Player/Gazebo) to figure out if simply a matter of
> > cutting out the laser and adding a sonar sensor... A brief look through
> > SickLMS200.cc suggests that one could use that as the basis... I'd have to
> > add the offsets to the trancievers, and do the all-around thing, but it
> > seems marginally possible... The reliability may have to be artificially
> > turned down, though, since I guess the ray-tracing could give a lot less
> > noisy readings than the sonar would...
> > (I was originally going to ask about changing the config to include the
> > sonar, then I did a "grep -ri sonar gazebo-cvs/*", got only documentation
> > matches, and decided that I could handle a little code-cutting. Especially
> > since it means that I can claim to be doing something... ;-)
> > So I guess the questions are:
> > 1. Does anybody have a working Pioneer1 model (or Pioneer2 with sonar)?
> > (Guess: No)
> > 2. Does anybody have a suggestion on how to build a sonar ring in Gazebo?
> > 3. Any comments on what makes a Pioneer1 different from the Pioneer2?
> > (Other than the sonar ring/laser switch...)
> > 4. Has anybody tried this (or something similar) and have any tips?
> > 5. Does anybody know if it's a really bad idea to try this? (I hope not :-)
> > Cheers,
> > Allwyn.
> > PS: Sorry for the run-on and verbosity... I didn't get any sleep, and my
> > mind has gone into slashdot-braindead mode all day... I hope it doesn't
> > detract from the point...
> Allwyn Fernandes
> Monash University
> School of Applied Sciences and Engineering
> Gippsland, Australia
> Mobile: +61 414 470 392
> This SF.Net email sponsored by Black Hat Briefings & Training.
> Attend Black Hat Briefings & Training, Las Vegas July 24-29 -
> digital self defense, top technical experts, no vendor pitches,
> unmatched networking opportunities. Visit http://www.blackhat.com
> Playerstage-gazebo mailing list