Re: [PlayerStage-Gazebo] Using cameras in Gazebo with Player

[<sa...@co...>]

Dear Nate:
   I tried the pts example and here are my results.

Started Gazebo with pioneer2dx_camera.world:
   Every 12- 15 seconds, the camera bounces along the tilt hinge.

Started Player with examples/player/ptz/player.cfg
   Camera still bounces every 12 - 15 seconds.

Started camera test program:
   The camera slowly pans but violently tilts.  Panning takes a couple of seconds but the tilting is almost instantanious. The camera still bounces, although it is harder to notice because the camera is already in an "up" position.

Stopped camera test application and started playerv:
   Camera still bounces.

In playerv, subscribed to the ptz device:
   Camera still bounces.

In playerv, enabled the "command" option:
   The camera starts to violetly tilt up and down.

It sort of seems like the gain or velocity of the tilt motor is set way too high. 

Sandy
--
sa...@al... 
www.sanfordfreedman.com 

"I have yet to see any problem, however complicated, which, when you looked at it in the right way, did not become still more complicated." 
- Poul Anderson

-------------- Original message -------------- 
From: "Nate Koenig" <nat...@gm...> 

> Hey Sandy, 
> 
> Could you try using the example in gazebo/examples/player/ptz? 
> 
> So you would run: 
> 
> gazebo worlds/pioneer2dx_camera.world 
> player player.cfg (in the gazebo/examples/player/ptz directory) 
> ./camera (found in gazebo/examples/player/ptz directory) 
> 
> -nate 
> 
> On Fri, Oct 24, 2008 at 7:28 AM, sa...@al... 
> wrote: 
> > I tried the latest fixes to the ptz controller but I am still having problems. 
> I can connect to the ptz device but the tilt angle starts to violently rock back 
> and forth. Using playerprint, the tilt angle appears to be jumping between 0.44 
> to -0.51 at a very high frequency. The pan angle seems to be working fine 
> although it is a little hard to tell with the tilt angle problems. For testing, 
> I used the Pioneer2dx_camera.world file and the player/camera example with the 
> following line "PtzProxy pp(&robot, 0);" added. The behavior is the same if you 
> connect using playerv. 
> > 
> > Sandy 
> > -- 
> > sa...@al... 
> > www.sanfordfreedman.com 
> > 
> > "I have yet to see any problem, however complicated, which, when you looked at 
> it in the right way, did not become still more complicated." 
> > - Poul Anderson 
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