Re: [PlayerStage-Gazebo] Laser beams passing through objects

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I found a couple of things that might be giving you grief.  Attached is a
slightly modified cylinder1 model that should work.  Mainly, the visual and
collision geometry in your cylinder1 object model file do not match,
collision size is specified by <size>radius length</size> and visual scale
specifies the bounding box scale of a unit_cylinder.  Your collision
cylinder is 1m tall and 1m wide (0.5m radius), but visual cylinder is half
of that in all three dimensions.
This might be unrelated, but there appears to be a bug in gui manipulation
of static bodies as well, I'll investigate further, but quick glance it
seems that  using the gazebo gui to drag a static body around does not
actually move its collision geometry.

hope this helps.
John

On Sat, Jun 19, 2010 at 8:26 PM, zhangqun <zha...@gm...> wrote:

>
> Hi, John, thanks for your reply. I post my world file and sicklms200 laser
> model below. I only put one cylinder there for test. In the laser model,
> the
> tab <displayRays>, no matter i put fan, false or lines values, the laser
> beams still can pass through the objects. Actually, even the example world
> file coming with gazebo 0.10.0, like pioneer2dx.world, the laser beams can
> also pass through the object. So i dont think it is the world file problem.
> And I further test the new laser model (gazebo 0.10.0) in my old version
> gazebo (0.8pre3), and the laser beems work fine. Thanks.
>
> world file:
>
> <?xml version="1.0"?>
>
> <gazebo:world
>  xmlns:xi="http://www.w3.org/2001/XInclude"
>  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor
> "
>  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window
> "
>  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>
> xmlns:interface="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>
> xmlns:rendering="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>
> xmlns:controller="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>
> xmlns:physics="
> http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
> >
>
>  <verbosity>5</verbosity>
>
>  <physics:ode>
>    <stepTime>0.03</stepTime>
>    <gravity>0 0 -9.8</gravity>
>    <cfm>10e-5</cfm>
>    <erp>0.3</erp>
>    <updateRate>0</updateRate>
>  </physics:ode>
>
>  <rendering:gui>
>    <type>fltk</type>
>    <size>800 600</size>
>    <pos>0 0</pos>
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>    <updateRate>20</updateRate>
>
>    <frames>
>      <row height="100%">
>        <camera width="100%">
>          <xyz>0.35 -0.5 0.43</xyz>
>          <rpy>0 14 111.5</rpy>
>        </camera>
>      </row>
>    </frames>
>  </rendering:gui>
>
>  <rendering:ogre>
>    <ambient>0.5 0.5 0.5 1.0</ambient>
>    <sky>
>      <material>Gazebo/CloudySky</material>
>    </sky>
>
>    <fog>
>      <color>1.0 1.0 1.0</color>
>      <linearStart>10</linearStart>
>      <linearEnd>100</linearEnd>
>    </fog>
>  </rendering:ogre>
>
>   <!-- Ground Plane -->
>  <model:physical name="plane1_model">
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>    <static>true</static>
>
>    <body:plane name="plane1_body">
>      <geom:plane name="plane1_geom">
>        <normal>0 0 1</normal>
>        <size>2000 2000</size>
>        <segments>10 10</segments>
>        <uvTile>100 100</uvTile>
>        <material>Gazebo/Grey</material>
>      </geom:plane>
>    </body:plane>
>  </model:physical>
>
>  <model:physical name="cylinder1_model">
>    <xyz>3.15 1.68 .3</xyz>
>    <rpy>0.0 0.0 0.0</rpy>
>    <static>true</static>
>
>    <body:cylinder name="cylinder1_body">
>      <geom:cylinder name="cylinder1_geom">
>        <size>0.5 1</size>
>        <mass>1.0</mass>
>        <visual>
>          <scale>0.5 0.5 0.5</scale>
>          <mesh>unit_cylinder</mesh>
>          <material>Gazebo/Color</material>
>        </visual>
>        </geom:cylinder>
>    </body:cylinder>
>  </model:physical>
>
>
>  <model:physical name="pioneer2dx_model1">
>    <xyz>0 0 0.145</xyz>
>    <rpy>0.0 0.0 0.0</rpy>
>
>
>    <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>
>
>  <!-- White Directional light -->
>  <model:renderable name="directional_white">
>    <light>
>      <type>directional</type>
>      <direction>0 -0.6 -0.4</direction>
>      <diffuseColor>1.0 1.0 1.0</diffuseColor>
>      <specularColor>0.2 0.2 0.2</specularColor>
>      <range>20</range>
>      <attenuation>1000 1.0 0.0 0</attenuation>
>    </light>
>  </model:renderable>
>
>
> </gazebo:world>
>
> part of laser model:
>
> <sensor:ray name="laser_1">
>      <rayCount>180</rayCount>
>      <rangeCount>361</rangeCount>
>      <origin>0.05 0.0 0</origin>
>
>      <minAngle>-90</minAngle>
>      <maxAngle>90</maxAngle>
>
>      <minRange>0.1</minRange>
>      <maxRange>8</maxRange>
>      <displayRays>fan</displayRays>
>
>      <!--<displayRays>lines</displayRays>-->
>      <!--<displayRays>false</displayRays>-->
>
>      <resRange>1</resRange>
>
>      <controller:sicklms200_laser name="laser_controller_1">
>        <interface:laser name="laser_iface_0"/>
>        <interface:fiducial name="fiducial_iface_0"/>
>      </controller:sicklms200_laser>
>    </sensor:ray>
>
>
>
>
> Hi,
> can you post your world file so I can try and reproduce the issue? thanks,
> John
>
> On Jun 19, 2010 7:55 AM, "zhangqun" <zha...@gm...> wrote:
>
>
>
> --
> View this message in context:
> http://old.nabble.com/Laser-beams-passing-through-objects-tp28934167p28938580.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
>
>
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