SimulationIface not working in Gazebo svn-8553

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SimulationIface not working in Gazebo svn-8553

David J. Mackay
Hi.

I'm trying the subject version of Gazebo and have found a problem with
the SimulationIface.  After connecting to gazebo, I can set the pose of
a model (simpleCar_model) using SimulationIface::SetPosed3d(.) and drive
the model with the PositionIface.  When I try to obtain the pose of the
model with SimulationIface::GetPosed3d(.), the initial pose is returned
regardless of the motion of the model.

Any thoughts?

Regards,
David

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Re: SimulationIface not working in Gazebo svn-8553

Kamil Muszyński
Hi,

I had the same problem (I'm using svn version, but not the latest, sth
about 8260). Reason was that the code responsible for returning that
position is missing and I've worked it around by getting the position
of a body from ode - I can send you this code when I'll be back from
work :)

Regards,
Kamil

2010/2/18 David J. Mackay <[hidden email]>:

> Hi.
>
> I'm trying the subject version of Gazebo and have found a problem with
> the SimulationIface.  After connecting to gazebo, I can set the pose of
> a model (simpleCar_model) using SimulationIface::SetPosed3d(.) and drive
> the model with the PositionIface.  When I try to obtain the pose of the
> model with SimulationIface::GetPosed3d(.), the initial pose is returned
> regardless of the motion of the model.
>
> Any thoughts?
>
> Regards,
> David
>
> ------------------------------------------------------------------------------
> Download Intel&reg; Parallel Studio Eval
> Try the new software tools for yourself. Speed compiling, find bugs
> proactively, and fine-tune applications for parallel performance.
> See why Intel Parallel Studio got high marks during beta.
> http://p.sf.net/sfu/intel-sw-dev
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: SimulationIface not working in Gazebo svn-8553

Kamil Muszyński
Ok, here is my solution.

I'm using svn version 8460 (so a bit old, but i can't compile latest
versions and 0.10 because of some bullet engine linking problems...)
and this fix worked for me:

in server/Model.cc there is no Model::GetAbsPose() method
implementation, which I guess is needed if you send
gazebo::SimulationRequestData::GET_POSE3D request to simulator, so I
added this

Pose3d Model::GetAbsPose()
{
       return this->bodies[**this->canonicalBodyNameP]->GetAbsPose();
}

and it works for me so far.

I hope that helps,

Kamil

2010/2/18 Kamil Muszynski <[hidden email]>:

> Hi,
>
> I had the same problem (I'm using svn version, but not the latest, sth
> about 8260). Reason was that the code responsible for returning that
> position is missing and I've worked it around by getting the position
> of a body from ode - I can send you this code when I'll be back from
> work :)
>
> Regards,
> Kamil
>
> 2010/2/18 David J. Mackay <[hidden email]>:
>> Hi.
>>
>> I'm trying the subject version of Gazebo and have found a problem with
>> the SimulationIface.  After connecting to gazebo, I can set the pose of
>> a model (simpleCar_model) using SimulationIface::SetPosed3d(.) and drive
>> the model with the PositionIface.  When I try to obtain the pose of the
>> model with SimulationIface::GetPosed3d(.), the initial pose is returned
>> regardless of the motion of the model.
>>
>> Any thoughts?
>>
>> Regards,
>> David
>>
>> ------------------------------------------------------------------------------
>> Download Intel&reg; Parallel Studio Eval
>> Try the new software tools for yourself. Speed compiling, find bugs
>> proactively, and fine-tune applications for parallel performance.
>> See why Intel Parallel Studio got high marks during beta.
>> http://p.sf.net/sfu/intel-sw-dev
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
>

------------------------------------------------------------------------------
Download Intel&#174; Parallel Studio Eval
Try the new software tools for yourself. Speed compiling, find bugs
proactively, and fine-tune applications for parallel performance.
See why Intel Parallel Studio got high marks during beta.
http://p.sf.net/sfu/intel-sw-dev
_______________________________________________
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