## Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo

 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Jonas Lanvers - 2007-10-29 13:35:08 ```Hello again :-) My quaternion to angle conversion seemed to be completely wrong. Does anybody know how to convert the Quaternion from Body->GetAngularVel()= to degrees / second=3F I tried a lot of formulas, but they all don't work. The output becomes sma= ller and bigger although I run it with a constant rotation speed. So the angular velocity also has to be more or less constant, doesn't it=3F Thanks in advance Jonas -----Urspr=FCngliche Nachricht----- Von: Gazebo developers Gesendet: 23.10.07 19:46:05 An: "Gazebo developers" Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo Yeah, the drift does seem to be a problem. Are there any mathematical models for drift, or simple ways to estimate it=3F If all else fails, maybe adding a little gaussian noise will do the trick. However, take that with a grain of salt, I'm no expert on gyroscopes. -nate On 10/23/07, Jonas Lanvers wrote: > Hi, > > The object does not have to spin. I only need orientation and drift. > Orientation seems to be no problem, I got this by converting the Global = Pose Quaternion. > But drift seems to be a problem, doesn't it=3F > > Jonas > > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 22.10.07 23:59:05 > > > A gyroscope might be possible. Do you want an actively spinning > object, or just a sensor that measures/maintains orientation=3F > > -nate > > On 10/18/07, Jonas Lanvers wrote: > > Is there any way (or better a plugin ) to simulate a gyroscope in gaze= bo=3F > > > > Jonas =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F XXL-Speicher, PC-Virenschutz, Spartarife & mehr: Nur im WEB.DE Club! =09 Jetzt testen! http://produkte.web.de/club/=3Fmc=3D021130 ```

 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Jonas Lanvers - 2007-10-23 07:47:54 ```Hi, The object does not have to spin. I only need orientation and drift. Orientation seems to be no problem, I got this by converting the Global Po= se Quaternion. But drift seems to be a problem, doesn't it=3F Jonas -----Urspr=FCngliche Nachricht----- Von: Gazebo developers Gesendet: 22.10.07 23:59:05 An: "Gazebo developers" Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo A gyroscope might be possible. Do you want an actively spinning object, or just a sensor that measures/maintains orientation=3F -nate On 10/18/07, Jonas Lanvers wrote: > Is there any way (or better a plugin ) to simulate a gyroscope in gazebo= =3F > > Jonas > =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F > Der WEB.DE SmartSurfer hilft bis zu 70% Ihrer Onlinekosten zu sparen! > http://smartsurfer.web.de/=3Fmc=3D100071&distributionid=3D000000000066 > > > ------------------------------------------------------------------------= - > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems=3F Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems=3F Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F Playerstage-gazebo mailing list Playerstage-gazebo@... https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F In 5 Schritten zur eigenen Homepage. Jetzt Domain sichern und gestalten!=20 Nur 3,99 EUR/Monat! http://www.maildomain.web.de/=3Fmc=3D021114 ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Jonas Lanvers - 2007-10-29 13:35:08 ```Hello again :-) My quaternion to angle conversion seemed to be completely wrong. Does anybody know how to convert the Quaternion from Body->GetAngularVel()= to degrees / second=3F I tried a lot of formulas, but they all don't work. The output becomes sma= ller and bigger although I run it with a constant rotation speed. So the angular velocity also has to be more or less constant, doesn't it=3F Thanks in advance Jonas -----Urspr=FCngliche Nachricht----- Von: Gazebo developers Gesendet: 23.10.07 19:46:05 An: "Gazebo developers" Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo Yeah, the drift does seem to be a problem. Are there any mathematical models for drift, or simple ways to estimate it=3F If all else fails, maybe adding a little gaussian noise will do the trick. However, take that with a grain of salt, I'm no expert on gyroscopes. -nate On 10/23/07, Jonas Lanvers wrote: > Hi, > > The object does not have to spin. I only need orientation and drift. > Orientation seems to be no problem, I got this by converting the Global = Pose Quaternion. > But drift seems to be a problem, doesn't it=3F > > Jonas > > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 22.10.07 23:59:05 > > > A gyroscope might be possible. Do you want an actively spinning > object, or just a sensor that measures/maintains orientation=3F > > -nate > > On 10/18/07, Jonas Lanvers wrote: > > Is there any way (or better a plugin ) to simulate a gyroscope in gaze= bo=3F > > > > Jonas =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F XXL-Speicher, PC-Virenschutz, Spartarife & mehr: Nur im WEB.DE Club! =09 Jetzt testen! http://produkte.web.de/club/=3Fmc=3D021130 ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Nate Koenig - 2007-10-29 16:51:39 ```Hello, There is a function in gazebo's quaternion class to convert to Euler angles. It might be easier to work with. -nate On 10/29/07, Jonas Lanvers wrote: > Hello again :-) > My quaternion to angle conversion seemed to be completely wrong. > Does anybody know how to convert the Quaternion from Body->GetAngularVel(= ) to degrees / second? > I tried a lot of formulas, but they all don't work. The output becomes sm= aller and bigger although I run it with a constant rotation speed. > So the angular velocity also has to be more or less constant, doesn't it? > > Thanks in advance > > Jonas > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 23.10.07 19:46:05 > An: "Gazebo developers" > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > Yeah, the drift does seem to be a problem. Are there any mathematical > models for drift, or simple ways to estimate it? If all else fails, > maybe adding a little gaussian noise will do the trick. However, take > that with a grain of salt, I'm no expert on gyroscopes. > > -nate > > On 10/23/07, Jonas Lanvers wrote: > > Hi, > > > > The object does not have to spin. I only need orientation and drift. > > Orientation seems to be no problem, I got this by converting the Global= Pose Quaternion. > > But drift seems to be a problem, doesn't it? > > > > Jonas > > > > -----Urspr=FCngliche Nachricht----- > > Von: Gazebo developers > > Gesendet: 22.10.07 23:59:05 > > > > > > A gyroscope might be possible. Do you want an actively spinning > > object, or just a sensor that measures/maintains orientation? > > > > -nate > > > > On 10/18/07, Jonas Lanvers wrote: > > > Is there any way (or better a plugin ) to simulate a gyroscope in gaz= ebo? > > > > > > Jonas > > > > > ______________________________________________________________________ > XXL-Speicher, PC-Virenschutz, Spartarife & mehr: Nur im WEB.DE Club! > Jetzt testen! http://produkte.web.de/club/?mc=3D021130 > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Jonas Lanvers - 2007-10-29 17:22:04 ```I tried this, but it didn't work. With a constant turning speed (that should propably result in a more or le= ss constant angular velocity) I get values from -2 over 0 to 2. In my opinion angular velocity is, how much the angle on a specific axis c= hanges in time. So the vaules should raise and then, stay constant. The values I get are sinus-like. Jonas - -----Urspr=FCngliche Nachricht----- Von: Gazebo developers Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo Hello, There is a function in gazebo's quaternion class to convert to Euler angles. It might be easier to work with. -nate On 10/29/07, Jonas Lanvers wrote: > Hello again :-) > My quaternion to angle conversion seemed to be completely wrong. > Does anybody know how to convert the Quaternion from Body->GetAngularVel= () to degrees / second=3F > I tried a lot of formulas, but they all don't work. The output becomes s= maller and bigger although I run it with a constant rotation speed. > So the angular velocity also has to be more or less constant, doesn't it= =3F > > Thanks in advance > > Jonas > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 23.10.07 19:46:05 > An: "Gazebo developers" > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > Yeah, the drift does seem to be a problem. Are there any mathematical > models for drift, or simple ways to estimate it=3F If all else fails, > maybe adding a little gaussian noise will do the trick. However, take > that with a grain of salt, I'm no expert on gyroscopes. > > -nate > > On 10/23/07, Jonas Lanvers wrote: > > Hi, > > > > The object does not have to spin. I only need orientation and drift. > > Orientation seems to be no problem, I got this by converting the Globa= l Pose Quaternion. > > But drift seems to be a problem, doesn't it=3F > > > > Jonas > > > > -----Urspr=FCngliche Nachricht----- > > Von: Gazebo developers > > Gesendet: 22.10.07 23:59:05 > > > > > > A gyroscope might be possible. Do you want an actively spinning > > object, or just a sensor that measures/maintains orientation=3F > > > > -nate > > > > On 10/18/07, Jonas Lanvers wrote: > > > Is there any way (or better a plugin ) to simulate a gyroscope in ga= zebo=3F > > > > > > Jonas =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F Der WEB.DE SmartSurfer hilft bis zu 70% Ihrer Onlinekosten zu sparen! http://smartsurfer.web.de/=3Fmc=3D100071&distributionid=3D000000000066 ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Nate Koenig - 2007-10-29 18:05:22 ```Can you provide some more information? What type of geometry are your using? And exactly what function are you using to get/set the angular velocity? -nate On 10/29/07, Jonas Lanvers wrote: > I tried this, but it didn't work. > With a constant turning speed (that should propably result in a more or l= ess constant angular velocity) I get values from -2 over 0 to 2. > In my opinion angular velocity is, how much the angle on a specific axis = changes in time. So the vaules should raise and then, stay constant. > The values I get are sinus-like. > > Jonas > - > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > Hello, > > There is a function in gazebo's quaternion class to convert to Euler > angles. It might be easier to work with. > > -nate > > On 10/29/07, Jonas Lanvers wrote: > > Hello again :-) > > My quaternion to angle conversion seemed to be completely wrong. > > Does anybody know how to convert the Quaternion from Body->GetAngularVe= l() to degrees / second? > > I tried a lot of formulas, but they all don't work. The output becomes = smaller and bigger although I run it with a constant rotation speed. > > So the angular velocity also has to be more or less constant, doesn't i= t? > > > > Thanks in advance > > > > Jonas > > -----Urspr=FCngliche Nachricht----- > > Von: Gazebo developers > > Gesendet: 23.10.07 19:46:05 > > An: "Gazebo developers" > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > > > > Yeah, the drift does seem to be a problem. Are there any mathematical > > models for drift, or simple ways to estimate it? If all else fails, > > maybe adding a little gaussian noise will do the trick. However, take > > that with a grain of salt, I'm no expert on gyroscopes. > > > > -nate > > > > On 10/23/07, Jonas Lanvers wrote: > > > Hi, > > > > > > The object does not have to spin. I only need orientation and drift. > > > Orientation seems to be no problem, I got this by converting the Glob= al Pose Quaternion. > > > But drift seems to be a problem, doesn't it? > > > > > > Jonas > > > > > > -----Urspr=FCngliche Nachricht----- > > > Von: Gazebo developers > > > Gesendet: 22.10.07 23:59:05 > > > > > > > > > A gyroscope might be possible. Do you want an actively spinning > > > object, or just a sensor that measures/maintains orientation? > > > > > > -nate > > > > > > On 10/18/07, Jonas Lanvers wrote: > > > > Is there any way (or better a plugin ) to simulate a gyroscope in g= azebo? > > > > > > > > Jonas > > _____________________________________________________________________ > Der WEB.DE SmartSurfer hilft bis zu 70% Ihrer Onlinekosten zu sparen! > http://smartsurfer.web.de/?mc=3D100071&distributionid=3D000000000066 > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Jonas Lanvers - 2007-10-30 08:17:40 ```I am using a simple cylinder and the function GetAngularVelocity from the = body (not from the cylinder geom): GzQuatern angVel=3D this->body->GetAngularVel(); GzVector eulers =3D GzQuaternToEuler(angVel); printf("%f \n", eulers.z); returns values from -3.14 to +3.14 and they cha= nge in this spectrum even on a constant turning speed. I don't set the angular velocity, because it's the global variable. I thin= k this is set automatically. The body is initialized like this: this->body =3D new Body( this->world ); this->AddBody(this->body, true); Jonas > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 29.10.07 19:06:14 > An: "Gazebo developers" > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo >=20 > Can you provide some more information=3F What type of geometry are your > using=3F And exactly what function are you using to get/set the angular > velocity=3F >=20 > -nate >=20 > On 10/29/07, Jonas Lanvers wrote: > > I tried this, but it didn't work. > > With a constant turning speed (that should propably result in a more o= r less constant angular velocity) I get values from -2 over 0 to 2. > > In my opinion angular velocity is, how much the angle on a specific ax= is changes in time. So the vaules should raise and then, stay constant. > > The values I get are sinus-like. > > > > Jonas > > - > > -----Urspr=FCngliche Nachricht----- > > Von: Gazebo developers > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > > > > Hello, > > > > There is a function in gazebo's quaternion class to convert to Euler > > angles. It might be easier to work with. > > > > -nate > > > > On 10/29/07, Jonas Lanvers wrote: > > > Hello again :-) > > > My quaternion to angle conversion seemed to be completely wrong. > > > Does anybody know how to convert the Quaternion from Body->GetAngula= rVel() to degrees / second=3F > > > I tried a lot of formulas, but they all don't work. The output becom= es smaller and bigger although I run it with a constant rotation speed. > > > So the angular velocity also has to be more or less constant, doesn'= t it=3F > > > > > > Thanks in advance > > > > > > Jonas > > > -----Urspr=FCngliche Nachricht----- > > > Von: Gazebo developers > > > Gesendet: 23.10.07 19:46:05 > > > An: "Gazebo developers" > > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > > > > > > > Yeah, the drift does seem to be a problem. Are there any mathematica= l > > > models for drift, or simple ways to estimate it=3F If all else fails, > > > maybe adding a little gaussian noise will do the trick. However, tak= e > > > that with a grain of salt, I'm no expert on gyroscopes. > > > > > > -nate > > > > > > On 10/23/07, Jonas Lanvers wrote: > > > > Hi, > > > > > > > > The object does not have to spin. I only need orientation and drif= t. > > > > Orientation seems to be no problem, I got this by converting the G= lobal Pose Quaternion. > > > > But drift seems to be a problem, doesn't it=3F > > > > > > > > Jonas > > > > > > > > -----Urspr=FCngliche Nachricht----- > > > > Von: Gazebo developers > > > > Gesendet: 22.10.07 23:59:05 > > > > > > > > > > > > A gyroscope might be possible. Do you want an actively spinning > > > > object, or just a sensor that measures/maintains orientation=3F > > > > > > > > -nate > > > > > > > > On 10/18/07, Jonas Lanvers wrote: > > > > > Is there any way (or better a plugin ) to simulate a gyroscope i= n gazebo=3F > > > > > > > > > > Jonas =5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F=5F Der WEB.DE SmartSurfer hilft bis zu 70% Ihrer Onlinekosten zu sparen! http://smartsurfer.web.de/=3Fmc=3D100071&distributionid=3D000000000066 ```
 Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo From: Nate Koenig - 2007-10-23 17:45:43 ```Yeah, the drift does seem to be a problem. Are there any mathematical models for drift, or simple ways to estimate it? If all else fails, maybe adding a little gaussian noise will do the trick. However, take that with a grain of salt, I'm no expert on gyroscopes. -nate On 10/23/07, Jonas Lanvers wrote: > Hi, > > The object does not have to spin. I only need orientation and drift. > Orientation seems to be no problem, I got this by converting the Global P= ose Quaternion. > But drift seems to be a problem, doesn't it? > > Jonas > > -----Urspr=FCngliche Nachricht----- > Von: Gazebo developers > Gesendet: 22.10.07 23:59:05 > An: "Gazebo developers" > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo > > > A gyroscope might be possible. Do you want an actively spinning > object, or just a sensor that measures/maintains orientation? > > -nate > > On 10/18/07, Jonas Lanvers wrote: > > Is there any way (or better a plugin ) to simulate a gyroscope in gazeb= o? > > > > Jonas > > _____________________________________________________________________ > > Der WEB.DE SmartSurfer hilft bis zu 70% Ihrer Onlinekosten zu sparen! > > http://smartsurfer.web.de/?mc=3D100071&distributionid=3D000000000066 > > > > > > -----------------------------------------------------------------------= -- > > This SF.net email is sponsored by: Splunk Inc. > > Still grepping through log files to find problems? Stop. > > Now Search log events and configuration files using AJAX and a browser. > > Download your FREE copy of Splunk now >> http://get.splunk.com/ > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > _________________________________________________________________________ > In 5 Schritten zur eigenen Homepage. Jetzt Domain sichern und gestalten! > Nur 3,99 EUR/Monat! http://www.maildomain.web.de/?mc=3D021114 > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```