Re: [PlayerStage-Gazebo] Gazebo view position

[Douglas S. B. <db...@br...>]

Attaching the ObserverCam inside the robot model works well with the 
latest CVS; thanks! That should do the trick (might need a "steadycam" 
interface later :). I also tried attaching a ptz to it, so that I could 
adjust the view if necessary. However, playerv choked via libplayerc:

playerv : error in dev_ptz.c
   libplayerc error: requested [97] access, but got [101] access

If I attach a gz_ptz to the ObserverCam, should I be able to adjust it?

Here's part of my config:

ptz:0
(
   driver "gz_ptz"
   gz_id "usercam1"
)

  camera:0
(
   driver "gz_camera"
   gz_id "usercam1"
)

and part of the world:

...
   <model:Pioneer2DX>
     <id>robot1</id>
     <xyz>-0.35 0 0.25</xyz>
     <rpy>0 0 0</rpy>

     <model:Pioneer2Sonars>
       <id>sonars1</id>
     </model:Pioneer2Sonars>

   <model:ObserverCam>
     <id>usercam1</id>
     <xyz>-0.685 -2.5 1.1</xyz>
     <rpy>0.0 10.0 56.0</rpy>
     <updatePeriod>0.1</updatePeriod>
     <displayRays>true</displayRays>
     <window>
       <title>Gazebo1</title>
       <size>640 480</size>
       <xyz>0 0</xyz>
     </window>
   </model:ObserverCam>

     <model:SickLMS200>
       ...
     </model:SickLMS200>
...

Although, I think I can get the camera in the right place (not too far, 
not too close) and this method should work nicely without having to 
adjust it.

-Doug

Nate Koenig wrote:
> The ObserverCam needed a bit of tweaking to make following work. A new
> version has been put back to CVS that will allow you to attach an
> ObserverCam to another model.
> 
> -nate
> 
> On Wed, 23 Jun 2004 18:21:48 -0700 (PDT), ahoward
> <ah...@po...> wrote:
> 
>>
>>Actually, I think you can just add an observer camera as a child of the
>>robot model (in the world file).  No hacking needed, and it will give you
>>a fixed "over the shoulder" viewpoint.
>>
>>        A.
>>
>>On Wed, 23 Jun 2004, Nate Koenig wrote:
>>
>>
>>>Hi Doug,
>>>
>>>Moving the camera relative to the robot or programmatically is
>>>something that hasn't been done yet. In the current implementation,
>>>the best you can do is place a SonyVID30 camera ontop of the robot to
>>>give a robot-perspective view of the world.
>>>
>>>A simple solution to this problem would involve attaching a Truth
>>>model to an ObserverCamera. Then your player client code could control
>>>the Camera to move anywhere it wanted. This would require a few
>>>changes within the ObserverCam Model.
>>>
>>>Another alternative, which would probably result in a less jumpy
>>>video, would involve attaching a slider joint between the camera and
>>>the robot. The joint  would maintain the relative position of the
>>>camera to the robot.  This again would take some hacking of the Camera
>>>and Pioneer models.
>>>
>>>If you come up with a solution, please let us know.
>>>
>>>-nate
>>>
>>>
>>>
>>>On Wed, 23 Jun 2004 18:42:21 +0000, Douglas S. Blank
>>><db...@br...> wrote:
>>>
>>>>Ok, the shell script to handle the pids was trivial and the right way to go;
>>>>thanks! :) I have gazebo/player starting and stopping, and have our Python
>>>>code moving the robots about. Woohoo!
>>>>
>>>>Now, what would it take to have the GL view follow a particular robot around?
>>>>That is, what would it take to have the GL camera be a relative location from
>>>>a robot's x,y,z? Optionally, it would be nice to make the direction of the GL
>>>>view be relative to the robot's direction, so that you can watch "over its
>>>>shoulder" as it moves about.
>>>>
>>>>I didn't see any commands in the gazebo interface to move the view
>>>>programmatically. Did I miss it? Thanks!
>>>>
>>>>-Doug
>>>>

-- 
Douglas S. Blank,         Assistant Professor
db...@br...,            (610)526-6501
Bryn Mawr College,   Computer Science Program
101 North Merion Ave,       Park Science Bld.
Bryn Mawr, PA 19010  dangermouse.brynmawr.edu