Re: [PlayerStage-Gazebo] problem laser with camera together

[zhangqun <zha...@gm...>]

Hi, regardless of the player driver about the sonyvid30 camera, when i set up
the camera to the pioneer robot, the gazebo frame per second reduced to a
very low value (only around 5 FPS, before that it was around 60FPS with only
laser attached.). The gazebo GUI becomes hard to control with mouse and even
my own program which controls the robot to move does not work, the robot
does not move. After i remove the camera components and only attach the
laser, it becomes normal.

Is it related to the hardware of my PC? Graphics not strong enough? My PC is
P4 2.8, 2G RAM, graphics card NV GF5200, direct rendering is ok.


zhangqun wrote:
> 
> Hi all,
> 
> i am trying to set up the laser and camera together with the pioneer
> robot, and the world file is as follows. when i set the position of the
> camera close to the laser, the laser beams will look like obstructed and
> become short (cannot reach the obstacle as before); when i set it far to
> the laser, such as <xyz>-2.15 0.2 0.08</xyz> in the below, the laser beams
> return to normal. whats wrong?
> 
> The second question that i can not add controller to the camera (quoted in
> below), something wrong with the interface.
> 
> anyone could help? thanks in advance.
> 
> <model:physical name="pioneer2dx_model1">
>     <xyz>0 0 0.145</xyz>
>     <rpy>0.0 0.0 0.0</rpy>
> 
> <model:physical name="sonyvid30_model">
>       <xyz>-2.15 0.2 0.08</xyz>
> 
> <!--
>     <controller:generic_camera name="sonyvid30_camera_controller">
>       <interface:camera name="camera_iface_0"/>
>     </controller:generic_camera>
> -->
>       <attach>
>         <parentBody>chassis_body</parentBody>
>         <myBody>sonyvid30_body</myBody>
>       </attach>
> 
>       <include embedded="true">
>         <xi:include href="models/sonyvid30.model" />
>       </include>
>     </model:physical>
> 
>     <model:physical name="laser">
>       <xyz>0.15 0 0.18</xyz>
> 
>       <attach>
>         <parentBody>chassis_body</parentBody>
>         <myBody>laser_body</myBody>
>       </attach>
> 
>       <include embedded="true">
>         <xi:include href="models/sicklms200.model" />
>       </include>
>     </model:physical>
> 
>     <include embedded="true">
>       <xi:include href="models/pioneer2dx.model" />
>     </include>
>   </model:physical>
> 

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