Three questions about gazebo svn HEAD

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Three questions about gazebo svn HEAD

Peter Nordin-2
Hello everyone


I recently began using gazebo, (two days ago) and I have run into some
problems that I hope someone can help me solve. I am using the SVN head
version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
8.04 64-bit system.


My first question has to do with the max range setting on the sicklms200
laser.

I want to mimic my real laser that is set to scan up to 80 meters. When
I set the max range in my gazebo .world file the “laser beams” in gazebo
seems to have the correct length. But when I connect gazebo to a player
server and us a client to read the laser data, all range readings are
divided by 10. My maximum range will be 8 meters. If I set the max value
to 20 meters in gazebo my maximum range from player will be 2 meters. If
I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
8 meters (the default value) the range readings are not divided by 10
and the correct ranges are given. Why does the “range unit” change
depending on max range setting. This does not happen on my real laser.


Second question:

In the help files at the web page it is said that the GUI can be
deactivated if you omit the <rendering:gui> section. When I do this
Gazebo crashes with the following message:

How do I make it work?


[server/GazeboConfig.cc:84]

Gazebo Path[/usr/local/share/gazebo]

[server/GazeboConfig.cc:92]

Ogre Path[/usr/lib/OGRE]

gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.

Aborted


Third question:

I am using a client that is following a set of lines created between
waypoints in the world coordinate system. Once it reach the end of the
track the order of waypoints is reversed and the robot goes back to the
beginning and so on. I have noticed after running the simulation for a
few minutes that the track seems to have drifted. The question is. Does
gazebo include drift, noise, uncertainty, or slip in the odometry
calculations? (I am using a world file based on the pioneer2dx robot
(with the addition of one laser). The client program is only using the
odometry for positioning in the track.


Thank you for your help

Peter


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Re: Three questions about gazebo svn HEAD

Richard Edwards-4
I can only answer question three. Currently if you look at the drivers
which let gazebo work as a player plugin, there is no support for
perfect odometry. Thus, you have errors that will accumulate over time,
I believe there were some mentions of tuning the update rate, etc, to
obtain a time based near perfect odometry.

Thank You,

Richard Edwards

Peter Nordin wrote:

> Hello everyone
>
>
> I recently began using gazebo, (two days ago) and I have run into some
> problems that I hope someone can help me solve. I am using the SVN head
> version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
> 8.04 64-bit system.
>
>
> My first question has to do with the max range setting on the sicklms200
> laser.
>
> I want to mimic my real laser that is set to scan up to 80 meters. When
> I set the max range in my gazebo .world file the “laser beams” in gazebo
> seems to have the correct length. But when I connect gazebo to a player
> server and us a client to read the laser data, all range readings are
> divided by 10. My maximum range will be 8 meters. If I set the max value
> to 20 meters in gazebo my maximum range from player will be 2 meters. If
> I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
> 8 meters (the default value) the range readings are not divided by 10
> and the correct ranges are given. Why does the “range unit” change
> depending on max range setting. This does not happen on my real laser.
>
>
> Second question:
>
> In the help files at the web page it is said that the GUI can be
> deactivated if you omit the <rendering:gui> section. When I do this
> Gazebo crashes with the following message:
>
> How do I make it work?
>
>
> [server/GazeboConfig.cc:84]
>
> Gazebo Path[/usr/local/share/gazebo]
>
> [server/GazeboConfig.cc:92]
>
> Ogre Path[/usr/lib/OGRE]
>
> gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
> Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.
>
> Aborted
>
>
> Third question:
>
> I am using a client that is following a set of lines created between
> waypoints in the world coordinate system. Once it reach the end of the
> track the order of waypoints is reversed and the robot goes back to the
> beginning and so on. I have noticed after running the simulation for a
> few minutes that the track seems to have drifted. The question is. Does
> gazebo include drift, noise, uncertainty, or slip in the odometry
> calculations? (I am using a world file based on the pioneer2dx robot
> (with the addition of one laser). The client program is only using the
> odometry for positioning in the track.
>
>
> Thank you for your help
>
> Peter
>
>
> ------------------------------------------------------------------------------
> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
> software that enables intelligent coding and step-through debugging.
> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>  


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Re: Three questions about gazebo svn HEAD

Peter Nordin-2
I was trying to improve odometry a bit and was reading the documentation
for ODE. I was also looking around in som .cc  files and found that if
you omit the <mu1>***</mu1> setting in your model the friction
coefficient will default to Infinity. I also found a <slip1> and <slip2>
setting to tune how much a body i allowed to slip. By decreasing this
value (default was 0.1) my odometry was improved. Inf friction and very
little slip means that the wheel based odometry gets better. It was not
perfect though and I was not able to decrease slip to much (cause then
it is not possible to turn)  some slip must be allowed to happen if you
want to turn the wheels.

Anyway thanks for your reply I will try tuning the step time too.
If anyone else have any clue about the other questions, particularly the
first one about the laser range, I would be happy to know.

Thank You,
Peter Nordin

Richard Edwards wrote:

> I can only answer question three. Currently if you look at the drivers
> which let gazebo work as a player plugin, there is no support for
> perfect odometry. Thus, you have errors that will accumulate over time,
> I believe there were some mentions of tuning the update rate, etc, to
> obtain a time based near perfect odometry.
>
> Thank You,
>
> Richard Edwards
>
> Peter Nordin wrote:
>  
>> Hello everyone
>>
>>
>> I recently began using gazebo, (two days ago) and I have run into some
>> problems that I hope someone can help me solve. I am using the SVN head
>> version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
>> 8.04 64-bit system.
>>
>>
>> My first question has to do with the max range setting on the sicklms200
>> laser.
>>
>> I want to mimic my real laser that is set to scan up to 80 meters. When
>> I set the max range in my gazebo .world file the “laser beams” in gazebo
>> seems to have the correct length. But when I connect gazebo to a player
>> server and us a client to read the laser data, all range readings are
>> divided by 10. My maximum range will be 8 meters. If I set the max value
>> to 20 meters in gazebo my maximum range from player will be 2 meters. If
>> I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
>> 8 meters (the default value) the range readings are not divided by 10
>> and the correct ranges are given. Why does the “range unit” change
>> depending on max range setting. This does not happen on my real laser.
>>
>>
>> Second question:
>>
>> In the help files at the web page it is said that the GUI can be
>> deactivated if you omit the <rendering:gui> section. When I do this
>> Gazebo crashes with the following message:
>>
>> How do I make it work?
>>
>>
>> [server/GazeboConfig.cc:84]
>>
>> Gazebo Path[/usr/local/share/gazebo]
>>
>> [server/GazeboConfig.cc:92]
>>
>> Ogre Path[/usr/lib/OGRE]
>>
>> gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
>> Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.
>>
>> Aborted
>>
>>
>> Third question:
>>
>> I am using a client that is following a set of lines created between
>> waypoints in the world coordinate system. Once it reach the end of the
>> track the order of waypoints is reversed and the robot goes back to the
>> beginning and so on. I have noticed after running the simulation for a
>> few minutes that the track seems to have drifted. The question is. Does
>> gazebo include drift, noise, uncertainty, or slip in the odometry
>> calculations? (I am using a world file based on the pioneer2dx robot
>> (with the addition of one laser). The client program is only using the
>> odometry for positioning in the track.
>>
>>
>> Thank you for your help
>>
>> Peter
>>
>>
>> ------------------------------------------------------------------------------
>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>> software that enables intelligent coding and step-through debugging.
>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>  
>>    
>
>
> ------------------------------------------------------------------------------
> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
> software that enables intelligent coding and step-through debugging.
> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>  


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easily build your RIAs with Flex Builder, the Eclipse(TM)based development
software that enables intelligent coding and step-through debugging.
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Re: Three questions about gazebo svn HEAD

Nate Koenig
Hello,

Answer 1:
  SVN Gazebo has "fixed" the range problem with the laser. In the
laser model file (sicklms200.model), there is now a parameter called
<resRange>. This parameter specifies the resolution of the range
reading. Basically, the range readings are divided by the <resRange>
parameter. You can access the range resolution parameter via the
LaserProxy.

Answer 2:
 The gui can be deactivated using the -g command line argument.

-nate


On Wed, Mar 25, 2009 at 1:59 AM, Peter Nordin <[hidden email]> wrote:

> I was trying to improve odometry a bit and was reading the documentation
> for ODE. I was also looking around in som .cc  files and found that if
> you omit the <mu1>***</mu1> setting in your model the friction
> coefficient will default to Infinity. I also found a <slip1> and <slip2>
> setting to tune how much a body i allowed to slip. By decreasing this
> value (default was 0.1) my odometry was improved. Inf friction and very
> little slip means that the wheel based odometry gets better. It was not
> perfect though and I was not able to decrease slip to much (cause then
> it is not possible to turn)  some slip must be allowed to happen if you
> want to turn the wheels.
>
> Anyway thanks for your reply I will try tuning the step time too.
> If anyone else have any clue about the other questions, particularly the
> first one about the laser range, I would be happy to know.
>
> Thank You,
> Peter Nordin
>
> Richard Edwards wrote:
>> I can only answer question three. Currently if you look at the drivers
>> which let gazebo work as a player plugin, there is no support for
>> perfect odometry. Thus, you have errors that will accumulate over time,
>> I believe there were some mentions of tuning the update rate, etc, to
>> obtain a time based near perfect odometry.
>>
>> Thank You,
>>
>> Richard Edwards
>>
>> Peter Nordin wrote:
>>
>>> Hello everyone
>>>
>>>
>>> I recently began using gazebo, (two days ago) and I have run into some
>>> problems that I hope someone can help me solve. I am using the SVN head
>>> version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
>>> 8.04 64-bit system.
>>>
>>>
>>> My first question has to do with the max range setting on the sicklms200
>>> laser.
>>>
>>> I want to mimic my real laser that is set to scan up to 80 meters. When
>>> I set the max range in my gazebo .world file the “laser beams” in gazebo
>>> seems to have the correct length. But when I connect gazebo to a player
>>> server and us a client to read the laser data, all range readings are
>>> divided by 10. My maximum range will be 8 meters. If I set the max value
>>> to 20 meters in gazebo my maximum range from player will be 2 meters. If
>>> I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
>>> 8 meters (the default value) the range readings are not divided by 10
>>> and the correct ranges are given. Why does the “range unit” change
>>> depending on max range setting. This does not happen on my real laser.
>>>
>>>
>>> Second question:
>>>
>>> In the help files at the web page it is said that the GUI can be
>>> deactivated if you omit the <rendering:gui> section. When I do this
>>> Gazebo crashes with the following message:
>>>
>>> How do I make it work?
>>>
>>>
>>> [server/GazeboConfig.cc:84]
>>>
>>> Gazebo Path[/usr/local/share/gazebo]
>>>
>>> [server/GazeboConfig.cc:92]
>>>
>>> Ogre Path[/usr/lib/OGRE]
>>>
>>> gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
>>> Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.
>>>
>>> Aborted
>>>
>>>
>>> Third question:
>>>
>>> I am using a client that is following a set of lines created between
>>> waypoints in the world coordinate system. Once it reach the end of the
>>> track the order of waypoints is reversed and the robot goes back to the
>>> beginning and so on. I have noticed after running the simulation for a
>>> few minutes that the track seems to have drifted. The question is. Does
>>> gazebo include drift, noise, uncertainty, or slip in the odometry
>>> calculations? (I am using a world file based on the pioneer2dx robot
>>> (with the addition of one laser). The client program is only using the
>>> odometry for positioning in the track.
>>>
>>>
>>> Thank you for your help
>>>
>>> Peter
>>>
>>>
>>> ------------------------------------------------------------------------------
>>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>>> software that enables intelligent coding and step-through debugging.
>>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>>> _______________________________________________
>>> Playerstage-gazebo mailing list
>>> [hidden email]
>>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>>
>>>
>>
>>
>> ------------------------------------------------------------------------------
>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>> software that enables intelligent coding and step-through debugging.
>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
>
>
> ------------------------------------------------------------------------------
> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
> software that enables intelligent coding and step-through debugging.
> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
> _______________________________________________
> Playerstage-gazebo mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>

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Re: Three questions about gazebo svn HEAD

Peter Nordin-2
Hello
I have tried it now, revision 7597 and have some things to report.
The laser seems to behave correctly with resRange set to 1. The -g
option also worked to disable gui.
I found some "bugs" to:

1. The resRange parameter is missing from the hokuyo-urg-04l.model.

2. When I set an object (box or sphere) to static the visuals and
geometry are placed exactly 2 times the given <xyz> value but the laser
still hits the object at the specified location. If I select the object
in gazebo the bounding box is drawn around the visual at 2*<xyz>. If I
use <static> false its OK. Static objects are not standing still though.
The are slowly rotating and moving around.

3. I dont know if this is a bug but, why do some objects (boxes usually)
slowly move around or rotate (when <static> = false). Trying to build
obstacle courses with non static objects is difficult as the obstacles
move around.

4. When an object is selected and I drag or scroll the mouse to move it,
gazebo crashes with the following error “ODE INTERNAL ERROR 2: invalid
operation for locked space in dGeomMoved()”. Usually it does not crash
right away but after about one second of movement.

5. During installation the contents of /usr/local/share/gazebo does not
seem to be updated. Som new LaserBlue color was missing , and the new
sicklms model file with resRange was not included.  (I had to manually
copy and replace the files). I am using Kubuntu 8.04.

Thanks
Peter Nordin

Nate Koenig wrote:

> Hello,
>
> Answer 1:
>   SVN Gazebo has "fixed" the range problem with the laser. In the
> laser model file (sicklms200.model), there is now a parameter called
> <resRange>. This parameter specifies the resolution of the range
> reading. Basically, the range readings are divided by the <resRange>
> parameter. You can access the range resolution parameter via the
> LaserProxy.
>
> Answer 2:
>  The gui can be deactivated using the -g command line argument.
>
> -nate
>
>
> On Wed, Mar 25, 2009 at 1:59 AM, Peter Nordin <[hidden email]> wrote:
>  
>> I was trying to improve odometry a bit and was reading the documentation
>> for ODE. I was also looking around in som .cc  files and found that if
>> you omit the <mu1>***</mu1> setting in your model the friction
>> coefficient will default to Infinity. I also found a <slip1> and <slip2>
>> setting to tune how much a body i allowed to slip. By decreasing this
>> value (default was 0.1) my odometry was improved. Inf friction and very
>> little slip means that the wheel based odometry gets better. It was not
>> perfect though and I was not able to decrease slip to much (cause then
>> it is not possible to turn)  some slip must be allowed to happen if you
>> want to turn the wheels.
>>
>> Anyway thanks for your reply I will try tuning the step time too.
>> If anyone else have any clue about the other questions, particularly the
>> first one about the laser range, I would be happy to know.
>>
>> Thank You,
>> Peter Nordin
>>
>> Richard Edwards wrote:
>>    
>>> I can only answer question three. Currently if you look at the drivers
>>> which let gazebo work as a player plugin, there is no support for
>>> perfect odometry. Thus, you have errors that will accumulate over time,
>>> I believe there were some mentions of tuning the update rate, etc, to
>>> obtain a time based near perfect odometry.
>>>
>>> Thank You,
>>>
>>> Richard Edwards
>>>
>>> Peter Nordin wrote:
>>>
>>>      
>>>> Hello everyone
>>>>
>>>>
>>>> I recently began using gazebo, (two days ago) and I have run into some
>>>> problems that I hope someone can help me solve. I am using the SVN head
>>>> version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
>>>> 8.04 64-bit system.
>>>>
>>>>
>>>> My first question has to do with the max range setting on the sicklms200
>>>> laser.
>>>>
>>>> I want to mimic my real laser that is set to scan up to 80 meters. When
>>>> I set the max range in my gazebo .world file the “laser beams” in gazebo
>>>> seems to have the correct length. But when I connect gazebo to a player
>>>> server and us a client to read the laser data, all range readings are
>>>> divided by 10. My maximum range will be 8 meters. If I set the max value
>>>> to 20 meters in gazebo my maximum range from player will be 2 meters. If
>>>> I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
>>>> 8 meters (the default value) the range readings are not divided by 10
>>>> and the correct ranges are given. Why does the “range unit” change
>>>> depending on max range setting. This does not happen on my real laser.
>>>>
>>>>
>>>> Second question:
>>>>
>>>> In the help files at the web page it is said that the GUI can be
>>>> deactivated if you omit the <rendering:gui> section. When I do this
>>>> Gazebo crashes with the following message:
>>>>
>>>> How do I make it work?
>>>>
>>>>
>>>> [server/GazeboConfig.cc:84]
>>>>
>>>> Gazebo Path[/usr/local/share/gazebo]
>>>>
>>>> [server/GazeboConfig.cc:92]
>>>>
>>>> Ogre Path[/usr/lib/OGRE]
>>>>
>>>> gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
>>>> Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.
>>>>
>>>> Aborted
>>>>
>>>>
>>>> Third question:
>>>>
>>>> I am using a client that is following a set of lines created between
>>>> waypoints in the world coordinate system. Once it reach the end of the
>>>> track the order of waypoints is reversed and the robot goes back to the
>>>> beginning and so on. I have noticed after running the simulation for a
>>>> few minutes that the track seems to have drifted. The question is. Does
>>>> gazebo include drift, noise, uncertainty, or slip in the odometry
>>>> calculations? (I am using a world file based on the pioneer2dx robot
>>>> (with the addition of one laser). The client program is only using the
>>>> odometry for positioning in the track.
>>>>
>>>>
>>>> Thank you for your help
>>>>
>>>> Peter
>>>>
>>>>
>>>> ------------------------------------------------------------------------------
>>>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>>>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>>>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>>>> software that enables intelligent coding and step-through debugging.
>>>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>>>> _______________________________________________
>>>> Playerstage-gazebo mailing list
>>>> [hidden email]
>>>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>>>
>>>>
>>>>        
>>> ------------------------------------------------------------------------------
>>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>>> software that enables intelligent coding and step-through debugging.
>>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>>> _______________________________________________
>>> Playerstage-gazebo mailing list
>>> [hidden email]
>>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>>
>>>      
>> ------------------------------------------------------------------------------
>> Apps built with the Adobe(R) Flex(R) framework and Flex Builder(TM) are
>> powering Web 2.0 with engaging, cross-platform capabilities. Quickly and
>> easily build your RIAs with Flex Builder, the Eclipse(TM)based development
>> software that enables intelligent coding and step-through debugging.
>> Download the free 60 day trial. http://p.sf.net/sfu/www-adobe-com
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [hidden email]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
>>    
>
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Re: Three questions about gazebo svn HEAD

Stephan Pleines
In reply to this post by Peter Nordin-2
Regarding question 1: There is a bug that also affects range, although I
don't think it is what causes your error:
http://sourceforge.net/tracker/?func=detail&aid=2669889&group_id=42445&atid=433166

    Stephan

Peter Nordin wrote:

> Hello everyone
>
>
> I recently began using gazebo, (two days ago) and I have run into some
> problems that I hope someone can help me solve. I am using the SVN head
> version of gazebo together with OGRE 1.6.1 and ODE-0.11 on a Kubuntu
> 8.04 64-bit system.
>
>
> My first question has to do with the max range setting on the sicklms200
> laser.
>
> I want to mimic my real laser that is set to scan up to 80 meters. When
> I set the max range in my gazebo .world file the “laser beams” in gazebo
> seems to have the correct length. But when I connect gazebo to a player
> server and us a client to read the laser data, all range readings are
> divided by 10. My maximum range will be 8 meters. If I set the max value
> to 20 meters in gazebo my maximum range from player will be 2 meters. If
> I set it to 9 meters the maximum will be 0.9 meters. BUT if I set it to
> 8 meters (the default value) the range readings are not divided by 10
> and the correct ranges are given. Why does the “range unit” change
> depending on max range setting. This does not happen on my real laser.
>
>
> Second question:
>
> In the help files at the web page it is said that the GUI can be
> deactivated if you omit the <rendering:gui> section. When I do this
> Gazebo crashes with the following message:http://sourceforge.net/tracker/?func=detail&aid=2669889&group_id=42445&atid=433166
>
> How do I make it work?
>
>
> [server/GazeboConfig.cc:84]
>
> Gazebo Path[/usr/local/share/gazebo]
>
> [server/GazeboConfig.cc:92]
>
> Ogre Path[/usr/lib/OGRE]
>
> gazebo: OgreTextureManager.cpp:43: static Ogre::TextureManager&
> Ogre::TextureManager::getSingleton(): Assertion `ms_Singleton' failed.
>
> Aborted
>
>
> Third question:
>
> I am using a client that is following a set of lines created between
> waypoints in the world coordinate system. Once it reach the end of the
> track the order of waypoints is reversed and the robot goes back to the
> beginning and so on. I have noticed after running the simulation for a
> few minutes that the track seems to have drifted. The question is. Does
> gazebo include drift, noise, uncertainty, or slip in the odometry
> calculations? (I am using a world file based on the pioneer2dx robot
> (with the addition of one laser). The client program is only using the
> odometry for positioning in the track.
>
>
> Thank you for your help
>
> Peter
>
>
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Re: Three questions about gazebo svn HEAD

Stephan Pleines
In reply to this post by Peter Nordin-2
I experience the exact same issues:


Peter Nordin wrote:
> 1. The resRange parameter is missing from the hokuyo-urg-04l.model.
>  
What is this parameter good for?
> 2. When I set an object (box or sphere) to static the visuals and
> geometry are placed exactly 2 times the given <xyz> value but the laser
> still hits the object at the specified location. If I select the object
> in gazebo the bounding box is drawn around the visual at 2*<xyz>. If I
> use <static> false its OK. Static objects are not standing still though.
> The are slowly rotating and moving around.
>  
This is a little annoying.

> 3. I dont know if this is a bug but, why do some objects (boxes usually)
> slowly move around or rotate (when <static> = false). Trying to build
> obstacle courses with non static objects is difficult as the obstacles
> move around.
>
> 4. When an object is selected and I drag or scroll the mouse to move it,
> gazebo crashes with the following error “ODE INTERNAL ERROR 2: invalid
> operation for locked space in dGeomMoved()”. Usually it does not crash
> right away but after about one second of movement.
>  
This is weird, with earlier versions of gazebo it was possible to move
objects around, and I think it was a quite useful feature.
> 5. During installation the contents of /usr/local/share/gazebo does not
> seem to be updated. Som new LaserBlue color was missing , and the new
> sicklms model file with resRange was not included.  (I had to manually
> copy and replace the files). I am using Kubuntu 8.04.
>  
As much as I like the new "fan" option, the graphics of the ray sensor
(fan or lines) are not working properly, although the data published to
the interface looks good.

    Stephan

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