Re: [PlayerStage-Gazebo] Wrong Positioning

[Daniel C. <dan...@ok...>]

Thanks for your reply, I tried positioning in the Pioneer2AT and Segway 
and none of them seem to be ok, theta also grows without bound, 
shouldn't it be normalized?, in any case, the heading doesn't match, I 
think I'm doing something wrong but I can't figure out what.

Also, Is there a default sampling rate for the sensors or player does 
the sampling when you call robot.Read() ?

Thanks again,

Dan
On Nov 8, 2004, at 11:25 AM, ahoward wrote:

>
> I will be testing the ClodBuster model this week in preparation for the
> impending 0.5 release; I'll let you know if I discover anything weird.
>
> 	A.
>
>
>
> On Fri, 5 Nov 2004, Daniel Cruz wrote:
>
>> Hello all,
>>
>> I'm trying to get position information from one clodbuster in Gazebo, 
>> I
>> command the robot to move in a circle, but the positioning information
>> xpos, ypos and theta don't seem to be right at all. I just started
>> digging into this, could someone give me a hand??
>>
>> I'm running player with just the position interface and this is my 
>> code.
>>
>> int main(int argc, char **argv)
>> {
>>
>> 	PlayerClient robot("localhost");
>> 	PositionProxy position(&robot, 0, 'a');
>>
>> 	float 	distance,angular_speed,linear_speed;
>>
>> 	linear_speed = 1;
>> 	angular_speed = 30;
>> 	position.ResetOdometry();
>> 	while(1){
>> 	position.SetSpeed(linear_speed,angular_speed);
>> 	robot.Read();
>> 	printf("Pos %lf %lf %lf
>> \n",position.speed,position.turnrate,position.theta*180/pi);
>> 	}
>>
>> 	position.SetSpeed(0, 0);
>> 	robot.Disconnect();
>>    }
>>
>> Thanks!
>>
>> Daniel
>>
>>
>>
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>
> Andrew Howard                           email: ah...@po...
> Department of Computer Science          http:  
> www-robotics.usc.edu/~ahoward
> University of Southern California       phone: 1 (213) 740 6416
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_______________________
Daniel  Cruz

Graduate Researcher
  ---  MARHES Lab ---
Advanced Tech Research Center
Oklahoma State University

Daniel.Cruz@Okstate.Edu
Lab		(405) 744 - 2077