[PlayerStage-Gazebo] Holonomous robot and omni-wheels support for player and gazebo (was Re: Omni-wheel model for Gazebo)

[chgans <ch...@gn...>]

Hendrik Skubch wrote:
> chgans wrote:
>  > Indeed, yes, i'm very interested by your patch.
>  >
>  > Chris
> 
> I checked an OmniWheel patch in under RequestID 1896952.
> I think there still is an issue since Gazebo's last change to the 
> coordinate system. The friction vector is an ODE coordinate, while 
> cylinder axis are OGRE coordinate (i think).
> Anyways, you can see the effect by placing a cylinder like this on an 
> inclined plane:

Hi all,
I've posted a follow up on this request ID, but unfortunately i was 
not able to add attachment, so here are they.

--
I've attached an updated version of this patch (minor fixes, and 
clean-up to minimize code change, respect identation, ...).
I've also attached a patch that add a world and a model of such a 
robot (wizbot.world and wizbot.model), a patch to control this type of 
robot through a position2d interface (for now, there's no odometry) 
and a patch for player to be able to control Vx, Vy and VYaw with a 
joystick, and finally a patch to add a player config file. All these 
patch was tested with player CVS, and gazebo SVN version:
- gazebo-server-controller-position2d-holonome3sw-SVN276.patch
- gazebo-server-physics-omniwheel-SVN276.patch
- gazebo-worlds-wizbot-SVN276.patch
- player-drivers-joystick-for-holonomous-CVS20080301.patch
- player-config-wizbot-CVS20080301.patch
--

Regards,
Chris.

PS: Sorry for cross-posting, but this request ID concerns both player 
and gazebo.


> 
> <model:physical name="cylinder1_model">
>     <xyz>1 -1.5 0.5</xyz>
>     <rpy>0.0 0.0 0.0</rpy>
>     <body:cylinder name="cylinder1_body">
>       <geom:cylinder name="cylinder1_geom">
>         <size>0.5 1</size>
>         <mass>1.0</mass>
>         <visual>
>           <mesh>unit_cylinder</mesh>
>           <material>Gazebo/RustyBarrel</material>
>         </visual>
>     <surface>
>         <type>0</type>
>         <mu1>1.7</mu1>
>         <bounce>0.1</bounce>
>         <bounceVel>0.04</bounceVel>
>     </surface>
>     <surface>
>         <type>1</type>
>         <mu1>1.7</mu1>
>         <bounce>0.1</bounce>
>         <bounceVel>0.04</bounceVel>
>     </surface>
>     <surface>
>         <type>2</type>
>         <mu1>0.01</mu1>
>         <mu2>1.7</mu2>
>         <mu1Dir>1 0 0</mu1Dir>
>         <bounce>0.1</bounce>
>         <bounceVel>0.04</bounceVel>
>     </surface>
> 
>       </geom:cylinder>
>     </body:cylinder>
>   </model:physical>
> 
> cheers,
>     hendrik.
> 
>