From: <car...@us...> - 2004-06-25 12:44:35
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Hi, Sonar model for now is a very basic one. It emulates sonar with unidirectional ray proximity sensor, so it is far from what we could observed with real sonars. I know that sonar ring is not well suited for the Pioneer1 as the robot dimensions are not the same for Pioneer2. It is very easy to hack the code a little to ajust that (actually, someone in my lab might have done this already...I'll send you a patched file if it is the case). One solution to have a more generic sonar ring could be to get sonar ring size and sonars position in the config file instead of having them hardcoded. Hope that helps. Carle Cote ----- Original Message ----- From: "Mr Allwyn Fernandes" <pla...@st...> To: <pla...@li...> Sent: Friday, June 25, 2004 1:40 AM Subject: Re: [PlayerStage-Gazebo] Modelling Pioneer1 in Player/Gazebo > I must remember to check the current status BEFORE saying stuff... It just > goes to show... One should always cvs update before grepping for stuff... > > It appears that I missed the addition of the Pioneer2Sonar model... So my > question reduces to the much simpler: > > Does anybody know how closely Pioneer2Sonar approximates a Pioneer1? > > I'm off to sit in the corner, consider my sins, and ponder the updated code... > > Thanks guys, > > Cheers. > > > On Friday 25 June 2004 15:24, Mr Allwyn Fernandes wrote: > > Hi guys, > > > > I'm wondering if anyone has tried modelling Pioneer1 robots in Gazebo? I > > think I noticed a driver for them in Player when compiling, but not in > > Gazebo. And while there are Pioneer2DX and AT model in Gazebo, it has the > > sonar ring disabled... > > > > I'm (going to be) working with a Pioneer1, but unfortunately it hasn't yet > > been returned by the previous postgrad who was working with it... I was > > hoping to get Gazebo running in the meantime, but I'm not familiar enough > > with the robots (or Player/Gazebo) to figure out if simply a matter of > > cutting out the laser and adding a sonar sensor... A brief look through > > SickLMS200.cc suggests that one could use that as the basis... I'd have to > > add the offsets to the trancievers, and do the all-around thing, but it > > seems marginally possible... The reliability may have to be artificially > > turned down, though, since I guess the ray-tracing could give a lot less > > noisy readings than the sonar would... > > > > (I was originally going to ask about changing the config to include the > > sonar, then I did a "grep -ri sonar gazebo-cvs/*", got only documentation > > matches, and decided that I could handle a little code-cutting. Especially > > since it means that I can claim to be doing something... ;-) > > > > So I guess the questions are: > > 1. Does anybody have a working Pioneer1 model (or Pioneer2 with sonar)? > > (Guess: No) > > 2. Does anybody have a suggestion on how to build a sonar ring in Gazebo? > > 3. Any comments on what makes a Pioneer1 different from the Pioneer2? > > (Other than the sonar ring/laser switch...) > > 4. Has anybody tried this (or something similar) and have any tips? > > 5. Does anybody know if it's a really bad idea to try this? (I hope not :-) > > > > Cheers, > > > > Allwyn. > > > > PS: Sorry for the run-on and verbosity... I didn't get any sleep, and my > > mind has gone into slashdot-braindead mode all day... I hope it doesn't > > detract from the point... > > -- > Allwyn Fernandes > Monash University > School of Applied Sciences and Engineering > Gippsland, Australia > > Mobile: +61 414 470 392 > > > > ------------------------------------------------------- > This SF.Net email sponsored by Black Hat Briefings & Training. > Attend Black Hat Briefings & Training, Las Vegas July 24-29 - > digital self defense, top technical experts, no vendor pitches, > unmatched networking opportunities. Visit www.blackhat.com > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > |