Patch applied to trunk.
-nate
On Fri, Sep 5, 2008 at 6:56 AM, [EMAIL PROTECTED]
<[EMAIL PROTECTED]> wrote:
> Here is a very simple patch to enable SetOdometry support in the differential
> position 2d controller. I needed to change the UpdateChild to use one large
> lock instead of two smaller locks because it may be possible for a client to
> set the odometry in between the locks and the change would then be lost. It
> does not handle current velocity (prevUpdateTime) since I do not know what is
> the expected behavior. This may need to be changed. The issue is that a
> client could set the odometry just before gazebo is about to update the
> model/controller. In this case, the odometry may receive too great of a
> change (especially if the robot/model is maintaining a large velocity).
> Since I do not have the ability to test this on a real pioneer, I am unsure
> what the correct behavior should be. An equivalent fix may be needed in
> other controllers but I have not looked.
>
> Index: server/controllers/position2d/differential/Differential_Position2d.cc
> ===================================================================
> --- server/controllers/position2d/differential/Differential_Position2d.cc
> (revision 7002)
> +++ server/controllers/position2d/differential/Differential_Position2d.cc
> (working copy)
> @@ -158,6 +158,7 @@
> double dr, da;
> double stepTime;
> + this->myIface->Lock(1);
> this->GetPositionCmd();
> wd = **(this->wheelDiamP);
> @@ -206,6 +207,7 @@
> }*/
> this->PutPositionData();
> + this->myIface->Unlock();
> }
> ////////////////////////////////////////////////////////////////////////////////
> @@ -221,9 +223,13 @@
> {
> double vr, va;
> - if (this->myIface->Lock(1))
> - {
> + //if (this->myIface->Lock(1))
> + //{
> + this->odomPose[0] = this->myIface->data->pose.pos.x;
> + this->odomPose[1] = this->myIface->data->pose.pos.y;
> + this->odomPose[2] = this->myIface->data->pose.yaw;
> +
> vr = this->myIface->data->cmdVelocity.pos.x;
> va = this->myIface->data->cmdVelocity.yaw;
> @@ -232,16 +238,16 @@
> this->wheelSpeed[LEFT] = vr + va * **(this->wheelSepP) / 2;
> this->wheelSpeed[RIGHT] = vr - va * **(this->wheelSepP) / 2;
> - this->myIface->Unlock();
> - }
> + //this->myIface->Unlock();
> + //}
> }
> //////////////////////////////////////////////////////////////////////////////
> // Update the data in the interface
> void Differential_Position2d::PutPositionData()
> {
> - if (this->myIface->Lock(1))
> - {
> + //if (this->myIface->Lock(1))
> + //{
> // TODO: Data timestamp
> this->myIface->data->head.time = Simulator::Instance()->GetSimTime();
> @@ -255,6 +261,6 @@
> // TODO
> this->myIface->data->stall = 0;
> - this->myIface->Unlock();
> - }
> + //this->myIface->Unlock();
> + //}
> }
>
>
> Sandy
> --
> [EMAIL PROTECTED]
> www.sanfordfreedman.com
>
> "I have yet to see any problem, however complicated, which, when you looked
> at it in the right way, did not become still more complicated."
> - Poul Anderson
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