Re: [PlayerStage-Gazebo] Using pioneer with position3D on height map

[Nate K. <nat...@gm...>]

You can use the simulation iface to get the true position of models in gazebo.

Take a look at the example here: <gazebo_sources>/examples/libgazebo/simiface

-nate

On Tue, Mar 31, 2009 at 9:19 AM, ximengzhu <xim...@gm...> wrote:
>
> Hello all,
> I'm new to gazebo and I'm trying to simulate a pioneer in a 3d environment.
> I'm using the last svn version (7561) on ubuntu 8.10, player 2.1.1, ogre1.6
> and ode0.11. I need to use the pioneer on a heightmap, receiving GPS and imu
> measures.
> I'm experimenting some issues in this work:
>
> first, I've read that gps and imu are not supported yet, so I'm trying to
> get the true 3d position from the simulator. However, I can't understand
> which controller I can use to get the 3d pose of the pioneer. The following
> is the model of the pioneer I'm using.
>
>  <model:physical name="pioneer2dx_model1">
>    <xyz>0 0 1.145</xyz>
>    <rpy>0.0 0.0 0.0</rpy>
>
>    <controller:differential_position2d name="controller1">
>      <leftJoint>left_wheel_hinge</leftJoint>
>      <rightJoint>right_wheel_hinge</rightJoint>
>      <wheelSeparation>0.39</wheelSeparation>
>      <wheelDiameter>0.15</wheelDiameter>
>      <torque>5</torque>
>      <interface:position name="position_iface_0"/>
>    </controller:differential_position2d>
>
>    <include embedded="true">
>      <xi:include href="../positions/pioneer2dx.model" />
>    </include>
>
>  </model:physical>
>
> Of course, the pioneer2dx.model file is the standard model.
> the player cfg file that I use is:
>
> driver
> (
>  name "gazebo"
>  provides ["simulation:0"]
>  plugin "libgazeboplugin"
>  server_id "default"
>  alwayson 1
> )
>
> driver
> (
>  name "gazebo"
>  provides ["position3d:0"]
>  gz_id "position_iface_0"
> )
>
> However, when I read the position in my c++ project I always get the z, roll
> and pitch at 0.0. I think it is a problem of the controller (probably it is
> stupid to use a 2d controller to get a position3d, isn't it?) but I can't
> understand the right controller to use.
>
> Second, I've tried to put the pioneer on a height map, but there is no
> collision between the pioneer and the map. More, I've tried to put a ground
> plane at 1 m of elevation, (also the pioneer of course), but still no
> collision. In both cases, the result is that the pioneer falls on the ground
> plane at elevation 0.
>
> Any idea or suggestion?
> My best regards,
> XimengZhu (alias Paolo)
> --
> View this message in context: http://www.nabble.com/Using-pioneer-with-position3D-on-height-map-tp22805219p22805219.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
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