Re: Controler Steer_Position2d and Hinge2

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Re: Controler Steer_Position2d and Hinge2

Nate Koenig
Hello,

Try using a smaller steptime.

-nate

On Tue, May 19, 2009 at 1:08 PM, rbpRenato <[hidden email]> wrote:

>
> Hello,
>
> It is my code, the problem is that i get a error runnig this example,
> the error is:
>
> ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in
> _dNormalize3() [../../include/ode/odemath.h]
> Aborted
>
> But, if i change hinge2 on the model robot body1 whith body 2 it wokrs but
> in bad, the front wheels turn in bad configuration. Someone could help me?
>
> world:
>
> <?xml version="1.0"?>
>
> <gazebo:world
>  xmlns:xi="http://www.w3.org/2001/XInclude"
>  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
>  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>  xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"
>  xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"
>  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>
> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>  xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"
>
> xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
>
> xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
>
> xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
>>
>
>  <verbosity>5</verbosity>
>
>  <physics:ode>
>    <stepTime>0.03</stepTime>
>    <gravity>0 0 -9.8</gravity>
>    <cfm>10e-5</cfm>
>    <erp>0.3</erp>
>  </physics:ode>
>
>  <rendering:gui>
>    <type>fltk</type>
>    <size>800 600</size>
>    <pos>0 0</pos>
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>  </rendering:gui>
>
>  <rendering:ogre>
>    <ambient>0.5 0.5 0.5 1.0</ambient>
>    <sky>
>      <material>Gazebo/CloudySky</material>
>    </sky>
>  </rendering:ogre>
>
> <!--
>  <model:physical name="terrain_model">
>    <body:heightmap name ="terrain_body">
>      <geom:heightmap name="terrain_geom">
>        <image>terrain.png</image>
>        <worldTexture>terrain_texture.jpg</worldTexture>
>        <detailTexture>terrain_detail.jpg</detailTexture>
>        <size>17 17 1</size>
>      </geom:heightmap>
>    </body:heightmap>
>  </model:physical>
> -->
>
>   <!-- Ground Plane -->
>  <model:physical name="plane1_model">
>    <xyz>0 0 0</xyz>
>    <rpy>0 0 0</rpy>
>    <static>true</static>
>
>    <body:plane name="plane1_body">
>      <geom:plane name="plane1_geom">
>        <normal>0 0 1</normal>
>        <size>2000 2000</size>
>        <segments>10 10</segments>
>        <uvTile>1000 1000</uvTile>
>        <material>Gazebo/Terran</material>
>      </geom:plane>
>    </body:plane>
>  </model:physical>
>
>  <model:physical name="obstaculo">
>  <xyz>3.0 0.0 0.5</xyz>
>  <rpy>0.0 0.0 0.0</rpy>
>  <body:plane name="obstaculo">
>    <geom:box name="obstaculo_geom">
>    <size>0.5 0.5 0.5</size>
>    <mass>1.0</mass>
>      <visual>
>        <size>0.5 0.5 0.5</size>
>        <mesh>unit_box</mesh>
>        <material>Gazebo/Rockwall</material>
>      </visual>
>    </geom:box>
>  </body:plane>
>  </model:physical>
>
>  <model:physical name="sphere1_model">
>    <xyz>3 3 0.5</xyz>
>    <static>false</static>
>    <body:sphere name="sphere1_body">
>      <geom:sphere name="sphere1_geom">
>        <size>0.2</size>
>        <mass>1.0</mass>
>
>        <visual>
>          <scale>0.2 0.2 0.2</scale>
>          <material>Gazebo/BumpyMetal</material>
>          <mesh>unit_sphere</mesh>
>        </visual>
>      </geom:sphere>
>    </body:sphere>
>  </model:physical>
>
>  <!--
>  Include the complete model described in the .model file
>  This assumes the root node is a <model:...>
>  -->
>  <!--  <include embedded="false">
>    <xi:include href="pioneer2dx.model" />
>  </include>
>  -->
>
>    <model:physical name="lince_model">
>    <xyz>0.00 0.00 0.00</xyz>
>    <rpy>0 0 0</rpy>
>
>    <controller:steering_position2d name="a car">
>    <wheel>
>       <joint>rear_left_wheel_hinge</joint>
>       <type>drive</type>
>       <torque>10</torque>
>    </wheel>
>    <wheel>
>         <joint>rear_right_wheel_hinge</joint>
>       <type>drive</type>
>       <torque>10</torque>
>    </wheel>
>    <wheel>
>        <joint>front_left_wheel_hinge</joint>
>       <type>steer</type>
>       <torque>0</torque>
>       <steerTorque>1</steerTorque>
>    </wheel>
>    <wheel>
>         <joint>front_right_wheel_hinge</joint>
>       <type>steer</type>
>       <torque>0</torque>
>       <steerTorque>1</steerTorque>
>    </wheel>
>
>    <steerPD>10 0.0</steerPD>
>
>    <!-- Henrik params start -->
>
>    <leftOdomJoint>front_left_wheel_hinge</leftOdomJoint>
>    <rightOdomJoint>front_right_wheel_hinge</rightOdomJoint>
>    <odomWheelSeparation>0.2</odomWheelSeparation>
>    <odomWheelDiameter>0.15</odomWheelDiameter>
>    <leftSteeringOdomJoint>front_left_wheel_hinge</leftSteeringOdomJoint>
>    <rightSteeringOdomJoint>front_right_wheel_hinge</rightSteeringOdomJoint>
>
>    <!-- Henrik params stop -->
>
>    <interface:position name="position_iface_0"/>
>
>    <!-- Henrik params start -->
>    <interface:actarray name="wheels_actarray_iface"/>
>    <!-- Henrik params stop -->
>
>  </controller:steering_position2d>
> <!--
>  <model:physical name="sonyvid30_model">
>    <xyz>0.0 0.0 0.30</xyz>
>    <attach>
>        <parentBody>chassis_body</parentBody>
>        <myBody>sonyvid30_body</myBody>
>    </attach>
>
>      <include embedded="true">
>        <xi:include
> href="/home/renato/Desktop/LINCE_PG/models/sonyvid30.model" />
>      </include>
>
>  </model:physical>
> -->
>  <model:physical name="laser">
>  <xyz>0.22 0.0 0.15</xyz>
>  <attach>
>      <parentBody>chassis_body</parentBody>
>      <myBody>laser_body</myBody>
>  </attach>
>
>    <include embedded="true">
>      <xi:include href="models/hokuyo.model"/>
>    </include>
>
>  </model:physical>
>
>    <include embedded="true">
>      <xi:include href="models/lince.model"/>
>    </include>
>
>  </model:physical>
>
>  <!-- White Directional light -->
>  <model:renderable name="directional_white">
>    <light>
>      <type>directional</type>
>      <direction>0 -0.8 -0.3</direction>
>      <diffuseColor>0.9 0.9 0.9</diffuseColor>
>      <specularColor>0.0 0.0 0.0</specularColor>
>      <attenuation>10 0.0 1.0 0.4</attenuation>
>    </light>
>  </model:renderable>
>
> </gazebo:world>
>
> model:
>
> <?xml version="1.0"?>
>
> <!-- Generic Car Model -->
> <model:physical name="default_lince_model"
>  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
>  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
>  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
>  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
>  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
>  xmlns:visual="http://playerstage.sourceforge.net/gazebo/xmlschema/#visual"
>>
>
> <xyz>0.0 0.0 0.0</xyz>
> <rpy>0.0 0.0 0.0</rpy>
>
> <canonicalBody>chassis_body</canonicalBody>
>
> <body:box name="chassis_body">
>    <geom:box name="chassis_baixo">
>    <xyz>0 0 0.05</xyz>
>    <rpy>0 0 0</rpy>
>    <size>0.3 0.1 0.1</size>
>    <mass>1.0</mass>
>      <visual>
>        <size>0.3 0.1 0.1</size>
>        <mesh>unit_box</mesh>
>        <material>Gazebo/White</material>
>      </visual>
>    </geom:box>
>
>    <geom:box name="chassis_cima">
>    <xyz>0 0 0.125</xyz>
>    <rpy>0 0 0</rpy>
>    <size>0.5 0.15 0.05</size>
>    <mass>0.5</mass>
>      <visual>
>        <size>0.5 0.15 0.05</size>
>        <mesh>unit_box</mesh>
>        <material>Gazebo/White</material>
>      </visual>
>    </geom:box>
>
>    <geom:box name="base">
>    <xyz>0 0 0.155</xyz>
>    <rpy>0 0 0</rpy>
>    <size>0.50 0.30 0.01</size>
>    <mass>1</mass>
>      <visual>
>        <size>0.50 0.30 0.01</size>
>        <mesh>unit_box</mesh>
>        <material>Gazebo/Black</material>
>      </visual>
>    </geom:box>
>
>    <geom:box name="pc">
>    <xyz>-0.025 0.0 0.2</xyz>
>    <rpy>0 0 0</rpy>
>    <size>0.20 0.25 0.08</size>
>    <mass>1</mass>
>      <visual>
>        <size>0.20 0.25 0.08</size>
>        <mesh>unit_box</mesh>
>        <material>Gazebo/Black</material>
>      </visual>
>    </geom:box>
>
> </body:box>
>
>
> <body:cylinder name="rear_left_wheel">
>  <xyz>-0.17 -0.15 0</xyz>
>  <rpy>0 90 90</rpy>
>
>  <geom:cylinder name="rear_left_wheel_geom">
>    <size>0.075 0.075</size>
>    <mass>0.2</mass>
>    <mu1>0.2</mu1>
>
>    <visual>
>      <rpy>90 0 0</rpy>
>      <size>0.17 0.1 0.17</size>
>      <mesh>Pioneer2dx/tire.mesh</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>    <visual>
>      <rpy>90 0 0</rpy>
>      <size>0.073 0.05 0.073</size>
>      <mesh>Pioneer2at/wheel.mesh</mesh>
>      <material>Gazebo/Gold</material>
>    </visual>
>
>    <visual>
>      <rpy>0 0 0</rpy>
>      <xyz>0 0 0.015</xyz>
>      <size>0.04 0.04 0.08 </size>
>      <mesh>unit_cylinder</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>  </geom:cylinder>
> </body:cylinder>
>
> <body:cylinder name="front_left_wheel">
>  <xyz>0.17 -0.15 0</xyz>
>  <rpy>0 90 90</rpy>
>
>  <geom:cylinder name="front_left_wheel_geom">
>    <size>0.075 0.075</size>
>    <mass>0.2</mass>
>    <mu1>0.2</mu1>
>
>    <visual>
>      <rpy>-90 0 0</rpy>
>      <size>0.17 0.1 0.17</size>
>      <mesh>Pioneer2dx/tire.mesh</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>    <visual>
>      <rpy>-90 0 0</rpy>
>      <size>0.073 0.05 0.073</size>
>      <mesh>Pioneer2at/wheel.mesh</mesh>
>      <material>Gazebo/Gold</material>
>    </visual>
>
>    <visual>
>      <rpy>0 0 0</rpy>
>      <xyz>0 0 0.015</xyz>
>      <size>0.04 0.04 0.08 </size>
>      <mesh>unit_cylinder</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>  </geom:cylinder>
> </body:cylinder>
>
> <body:cylinder name="rear_right_wheel">
>  <xyz>-0.17 0.15 0</xyz>
>  <rpy>0 90 90</rpy>
>
>  <geom:cylinder name="rear_right_wheel_geom">
>    <size>0.075 0.075</size>
>    <mass>0.2</mass>
>    <mu1>0.2</mu1>
>
>    <visual>
>      <rpy>-90 0 0</rpy>
>      <size>0.17 0.1 0.17</size>
>      <mesh>Pioneer2dx/tire.mesh</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>    <visual>
>      <rpy>-90 0 0</rpy>
>      <size>0.073 0.05 0.073</size>
>      <mesh>Pioneer2at/wheel.mesh</mesh>
>      <material>Gazebo/Gold</material>
>    </visual>
>
>    <visual>
>      <rpy>0 0 0</rpy>
>      <xyz>0 0 0.015</xyz>
>      <size>0.04 0.04 0.08 </size>
>      <mesh>unit_cylinder</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>  </geom:cylinder>
> </body:cylinder>
>
> <body:cylinder name="front_right_wheel">
>  <xyz>0.17 0.15 0</xyz>
>  <rpy>0 90 90</rpy>
>
>  <geom:cylinder name="front_right_wheel_geom">
>    <size>0.075 0.075</size>
>    <mass>0.2</mass>
>    <mu1>0.2</mu1>
>
>    <visual>
>      <rpy>90 0 0</rpy>
>      <size>0.17 0.1 0.17</size>
>      <mesh>Pioneer2dx/tire.mesh</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>    <visual>
>      <rpy>90 0 0</rpy>
>      <size>0.073 0.05 0.073</size>
>      <mesh>Pioneer2at/wheel.mesh</mesh>
>      <material>Gazebo/Gold</material>
>    </visual>
>
>    <visual>
>      <rpy>0 0 0</rpy>
>      <xyz>0 0 0.015</xyz>
>      <size>0.04 0.04 0.08 </size>
>      <mesh>unit_cylinder</mesh>
>      <material>Gazebo/Black</material>
>    </visual>
>
>  </geom:cylinder>
> </body:cylinder>
>
> <joint:hinge2 name="front_left_wheel_hinge">
>  <body1>chassis_body</body1>
>  <body2>front_left_wheel</body2>
>  <anchor>front_left_wheel</anchor>
>  <anchorOffset>0 0.005 0</anchorOffset>
>  <axis1>0 0 1</axis1>
>  <axis2>0 1 0</axis2>
>  <lowStop1>-30</lowStop1>
>  <highStop1>30</highStop1>
>  <lowStop2>0</lowStop2>
>  <highStop2>0</highStop2>
>  <erp>0.8</erp>
>  <cfm>10e-5</cfm>
> </joint:hinge2>
>
> <joint:hinge2 name="front_right_wheel_hinge">
>  <body1>chassis_body</body1>
>  <body2>front_right_wheel</body2>
>  <anchor>front_right_wheel</anchor>
>  <anchorOffset>0 -0.005 0</anchorOffset>
>  <axis1>0 0 1</axis1>
>  <axis2>0 1 0</axis2>
>  <lowStop1>-30</lowStop1>
>  <highStop1>30</highStop1>
>  <lowStop2>0</lowStop2>
>  <highStop2>0</highStop2>
>  <erp>0.8</erp>
>  <cfm>10e-5</cfm>
> </joint:hinge2>
>
> <joint:hinge name="rear_right_wheel_hinge">
>  <body2>chassis_body</body2>
>  <body1>rear_right_wheel</body1>
>  <anchor>rear_right_wheel</anchor>
>  <anchorOffset>0 0.05 0</anchorOffset>
>  <axis>0 1 0</axis>
>  <erp>0.8</erp>
>  <cfm>0.1</cfm>
> </joint:hinge>
>
> <joint:hinge name="rear_left_wheel_hinge">
>  <body2>chassis_body</body2>
>  <body1>rear_left_wheel</body1>
>  <anchor>rear_left_wheel</anchor>
>  <anchorOffset>0 0.005 0</anchorOffset>
>  <axis>0 1 0</axis>
>  <erp>0.8</erp>
>  <cfm>0.1</cfm>
> </joint:hinge>
>
> </model:physical>
> --
> View this message in context: http://www.nabble.com/Controler-Steer_Position2d-and-Hinge2-tp23623406p23623406.html
> Sent from the playerstage-gazebo mailing list archive at Nabble.com.
>
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