Re: [PlayerStage-Gazebo] Playerstage-gazebo Digest, Vol 10, Issue 4

[Nate K. <nk...@ro...>]

Excellent, so the best place to start is with the Pioneer2DX model.
The default ogre.world file contains this model.

In order to make this model move a proper interface and controller
must be assigned. An interface defines what type of data is consumed
and generated, and a controller defines how the data is processed.

For instance, a position2d interface will accept velocity commands,
and produce odometry data. A pioneer2dx position controller should
simulate the actuation found on a pioneer2dx.

The purpose behind breaking out this functionality to is provide more
resuability, and allow for quick assembly of models.

With that said, the pioneer2dx position controller needs to be
written. It is currently stubbed out in
gazebo/server/controllers/position2d/pioneer2dx. You should be able to
rip the control code from a previous version of gazebo. Once the code
is in place make sure the controller and interface are loaded
properly, and test using the player viewer.

Hopefully this is an easy first step. Let me know if you want to do
this, or if you have other ideas, suggestions, etc.

-nate

On 3/7/07, Paul Benjamin <ben...@pa...> wrote:
> Both.
>
>
> On Mar 7, 2007, at 8:50 AM,
> pla...@li... wrote:
>
>
> Message: 4
>
> Date: Wed, 7 Mar 2007 08:34:21 -0500
>
> From: "Nate Koenig" <nk...@ro...>
>
> Subject: Re: [PlayerStage-Gazebo] Playerstage-gazebo Digest, Vol 10,
>
>  Issue 2
>
> To: "Gazebo developers"
> <pla...@li...>
>
> Message-ID:
>
> <fa3...@ma...>
>
> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
>
>
>
>
> Hi Paul,
>
>
>
>
> So if I read your message correctly, you are interested in improving
>
> the robot models to allow proper motor control? If this is correct,
>
> do you want to work on Player interfaces, or the controllers for the
>
> robot, or both?
>
>
>
>
> -nate
>
>
>
>
> On 3/4/07, Paul Benjamin <ben...@pa...> wrote:
>
>
> I've built gazebo 0.8 on debian linux in parallels under OSX, using
>
> Ogre 1.2.5.
>
> It built, but whenever I run it, parallels logs me out. I don't have
>
> time to chase this
>
> error down, but I submitted an error report to parallels.
>
>
>
>
> On the other hand, everything runs fine under debian linux on a
>
> macbook (native,
>
> not under parallels). Of course, I'd like to get the robot model
>
> actually moving, so I'd like
>
> to join any efforts to program the models.
>
>
>
>
> Paul Benjamin
>
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