From: Vikram H. <har...@op...> - 2003-11-17 06:02:45
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Hi Brian, I was wondering - when using Stage - is the turnrate (gathered via the PositionProxy) calculated using the actual pioneer axle length of 357mm, using the axle length of 330mm as stated in the pioneer.inc file? This is a bit critical for me as I am calculating the individual wheel speeds of the pioneer and need to know what value is used for axle length when operating under the Stage environment. Thanks. Vikram brian gerkey wrote: > On Thu, 13 Nov 2003, Vikram Harinath wrote: > > > So under stage simulation the axle length 330mm, but when I use that actual > > Pioneer the axle length is 357mm? Thats weird. Wonder why that was done that > > way? Wouldnt this produce different values for turnrate (yawspeed) for the > > stage pioneer and the real pioneer? > > > > for most people, the difference between 330mm and 357mm doesn't matter at > all. Stage is a low-fidelity simulator, and we don't try very hard to > *exactly* model the physical robots. we do just well enough so that most > people's code can transfer between simulation and reality. > > brian. |