From: Jordi <mu...@gm...> - 2006-08-21 16:08:48
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I have made some changes in the TODO list for Gazebo (Nate please review it) and added myself to the task of implementing new sensors and sound related interfaces. About the bumper sensor, I think that the most realworld-like solution is create new geometries connected to the main body by one (or more) slide joints (This is a slide joint: http://www.ode.org/pix/slider.jpg). When this joints are in certain positions the bumper is on, other positions and the bumper is off. Should I try and implement bumpers this way? -- Jordi Polo |
From: Nate K. <nk...@ro...> - 2006-08-22 13:43:30
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Hello, The wiki page updates look good, thanks. And the slider joint is the proper method for a bump sensor. -nate On 8/21/06, Jordi <mu...@gm...> wrote: > > > I have made some changes in the TODO list for Gazebo (Nate please review it) > and added myself to the task of implementing new sensors and sound related > interfaces. > > About the bumper sensor, I think that the most realworld-like solution is > create new geometries connected to the main body by one (or more) slide > joints (This is a slide joint: http://www.ode.org/pix/slider.jpg). > When this joints are in certain positions the bumper is on, other positions > and the bumper is off. > > Should I try and implement bumpers this way? > > > -- > Jordi Polo > > ------------------------------------------------------------------------- > Using Tomcat but need to do more? Need to support web services, security? > Get stuff done quickly with pre-integrated technology to make your job easier > Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo > http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > |
From: Reed H. <re...@mo...> - 2006-08-22 15:02:05
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Nate Koenig wrote: > Hello, > > The wiki page updates look good, thanks. And the slider joint is the > proper method for a bump sensor. > Most bumpers are switches with springs. Can a slider joint have a spring force on it? If possible, it would be good to be able to set the threshold for when the bumper is considered "triggered" -- its sensitivity. (In addition, getting the % the slider is "pressed" might be useful, though most bumpers are just switches). Can you also restrict which angles cause a slider to slide? Reed |
From: Jordi <mu...@gm...> - 2006-08-22 18:06:41
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> Most bumpers are switches with springs. Can a slider joint have a spring > force on it? If possible, it would be good to be able to set the threshold > for when the bumper is considered "triggered" -- its sensitivity. Sliders can have a low and high stop values. They can also have a motor attached to them, this motor will apply a force to the slide to push it outwards. It should work. > (In > addition, getting the % the slider is "pressed" might be useful, though > most bumpers are just switches). This is really the most difficult problem, it may need checking each simulation step for the state of every bumper. > Can you also restrict which angles cause > a slider to slide? sliders are just one degree of freedom joint, the attached geometries and physics will rule here. -- Jordi Polo |