Revision: 6677
http://playerstage.svn.sourceforge.net/playerstage/?rev=6677&view=rev
Author: natepak
Date: 2008-06-24 09:02:24 -0700 (Tue, 24 Jun 2008)
Log Message:
-----------
Fixed the fiducial-laser interface.
Modified Paths:
--------------
code/gazebo/trunk/player/FiducialInterface.cc
code/gazebo/trunk/player/gazebo.cfg
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
code/gazebo/trunk/server/sensors/ray/RaySensor.cc
code/gazebo/trunk/worlds/test.world
Modified: code/gazebo/trunk/player/FiducialInterface.cc
===================================================================
--- code/gazebo/trunk/player/FiducialInterface.cc 2008-06-24 15:09:10 UTC
(rev 6676)
+++ code/gazebo/trunk/player/FiducialInterface.cc 2008-06-24 16:02:24 UTC
(rev 6677)
@@ -174,9 +174,9 @@
ts.tv_sec = (int) (this->iface->data->head.time);
ts.tv_usec = (int) (fmod(this->iface->data->head.time, 1) * 1e6);
- unsigned int oldCount = data.fiducials_count;
+ unsigned int oldCount = this->data.fiducials_count;
- data.fiducials_count = i;
+ this->data.fiducials_count = this->iface->data->count;
if (oldCount != this->data.fiducials_count)
{
Modified: code/gazebo/trunk/player/gazebo.cfg
===================================================================
--- code/gazebo/trunk/player/gazebo.cfg 2008-06-24 15:09:10 UTC (rev 6676)
+++ code/gazebo/trunk/player/gazebo.cfg 2008-06-24 16:02:24 UTC (rev 6677)
@@ -25,12 +25,12 @@
gz_id "laser_iface_0"
)
-#driver
-#(
-# name "gazebo"
-# provides ["fiducial:0"]
-# gz_id "sicklms_fid_iface_1"
-#)
+driver
+(
+ name "gazebo"
+ provides ["fiducial:0"]
+ gz_id "fiducial_iface_0"
+)
#driver
#(
Modified:
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
===================================================================
--- code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2008-06-24 15:09:10 UTC (rev 6676)
+++ code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2008-06-24 16:02:24 UTC (rev 6677)
@@ -92,23 +92,30 @@
// Update the controller
void SickLMS200_Laser::UpdateChild()
{
- bool opened = false;
+ bool laserOpened = false;
+ bool fidOpened = false;
if (this->laserIface->Lock(1))
{
- opened = this->laserIface->GetOpenCount() > 0;
+ laserOpened = this->laserIface->GetOpenCount() > 0;
+ fidOpened = this->fiducialIface->GetOpenCount() > 0;
this->laserIface->Unlock();
}
- if (opened)
+ if (laserOpened)
{
this->myParent->SetActive(true);
-
this->PutLaserData();
- //this->PutFiducialData();
}
- else
+
+ if (fidOpened)
{
+ this->myParent->SetActive(true);
+ this->PutFiducialData();
+ }
+
+ if (!laserOpened && !fidOpened)
+ {
this->myParent->SetActive(false);
}
}
@@ -173,7 +180,7 @@
// Intensity is either-or
v = (int) this->myParent->GetRetro(ja) || (int)
this->myParent->GetRetro(jb);
- this->laserIface->data->ranges[rangeCount-i-1] = r + minRange;
+ this->laserIface->data->ranges[i] = r + minRange;
this->laserIface->data->intensity[i] = v;
}
@@ -196,15 +203,13 @@
double maxAngle = this->myParent->GetMaxAngle();
double minAngle = this->myParent->GetMinAngle();
-//TODO: implement max range and rangeCount
-// double maxRange = this->myParent->GetMaxRange();
+ double maxRange = this->myParent->GetMaxRange();
double minRange = this->myParent->GetMinRange();
int rayCount = this->myParent->GetRayCount();
-// int rangeCount = this->myParent->GetRangeCount();
+ int rangeCount = this->myParent->GetRangeCount();
if (this->fiducialIface->Lock(1))
{
-
// Data timestamp
this->fiducialIface->data->head.time = Simulator::Instance()->GetSimTime();
this->fiducialIface->data->count = 0;
Modified: code/gazebo/trunk/server/sensors/ray/RaySensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2008-06-24 15:09:10 UTC
(rev 6676)
+++ code/gazebo/trunk/server/sensors/ray/RaySensor.cc 2008-06-24 16:02:24 UTC
(rev 6677)
@@ -109,8 +109,8 @@
this->prevPose = bodyPose;
// Create and array of ray geoms
- //for (int i = 0; i < this->rayCount; i++)
- for (int i = this->rayCount-1; i >= 0; i--)
+ for (int i = 0; i < this->rayCount; i++)
+ //for (int i = this->rayCount-1; i >= 0; i--)
{
angle = i * (this->maxAngle - this->minAngle) / (rayCount - 1) +
this->minAngle;
Modified: code/gazebo/trunk/worlds/test.world
===================================================================
--- code/gazebo/trunk/worlds/test.world 2008-06-24 15:09:10 UTC (rev 6676)
+++ code/gazebo/trunk/worlds/test.world 2008-06-24 16:02:24 UTC (rev 6677)
@@ -5,57 +5,50 @@
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:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable";
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.02</stepTime>
- <gravity>0 0 -9.80665</gravity>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
- <erp>0.3</erp>
+ <erp>0.8</erp>
+ <maxUpdateRate>0</maxUpdateRate>
</physics:ode>
<rendering:gui>
<type>fltk</type>
- <size>640 480</size>
+ <size>800 600</size>
<pos>0 0</pos>
</rendering:gui>
<rendering:ogre>
- <ambient>1.0 1.0 1.0 1.0</ambient>
+ <ambient>0.5 0.5 0.5 1.0</ambient>
<sky>
<material>Gazebo/CloudySky</material>
</sky>
+ <fog>
+ <color>1.0 1.0 1.0</color>
+ <linearStart>10</linearStart>
+ <linearEnd>100</linearEnd>
+ </fog>
</rendering:ogre>
- <model:physical name="sphere1_model">
- <xyz>0 0 0.1</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/Rocky</material>
- <mesh>unit_sphere</mesh>
- </visual>
- </geom:sphere>
- </body:sphere>
- </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">
@@ -64,27 +57,84 @@
<size>2000 2000</size>
<segments>10 10</segments>
<uvTile>100 100</uvTile>
- <material>Gazebo/GrassFloor</material>
+ <material>Gazebo/Grey</material>
</geom:plane>
</body:plane>
</model:physical>
- <model:physical name="cam2_model">
- <xyz>-3.0 0 2.59</xyz>
- <rpy>0 28 -2</rpy>
- <static>true</static>
+ <model:physical name="cylinder1_model">
+ <xyz>1 -1.5 0.5</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
- <body:empty name="cam2_body">
- <sensor:camera name="cam2_sensor">
- <imageSize>800 600</imageSize>
- <hfov>60</hfov>
- <nearClip>0.1</nearClip>
- <farClip>100</farClip>
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <size>0.5 1</size>
+ <mass>1.0</mass>
+ <visual>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/RustyBarrel</material>
+ </visual>
- <saveFrames>false</saveFrames>
- <saveFramePath>frames</saveFramePath>
- </sensor:camera>
- </body:empty>
+ <laserFiducialId>1</laserFiducialId>
+ </geom:cylinder>
+ </body:cylinder>
</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="pioneer2dx_model1">
+ <xyz>0 0 0.145</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.34</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>5</torque>
+ <interface:position name="position_iface_0"/>
+ </controller:differential_position2d>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <!--
+ The include should be last within a model. All previous statements
+ will override those in the included file
+ -->
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.6 -0.4</direction>
+ <diffuseColor>1.0 1.0 1.0</diffuseColor>
+ <specularColor>0.2 0.2 0.2</specularColor>
+ <attenuation>1000 1.0 0.0 0</attenuation>
+ </light>
+ </model:renderable>
+
+
</gazebo:world>
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