I realize this thread is ancient, but I'm very interested in seeing the code
used here. I can't seem to find if it was ever added to the CVS.
jonasl wrote:
>
> Well, as far as I can see GetAngularVelocity returns something, but
> nothing I can use.
> In the end I just used the global pose to calculate the angular velocity.
> I should have done this earlier, it's three lines of code ;-)
> If anyone is interested in the gyro plugin, just ask me.
> Thanks at all for your help!
>> -----Ursprüngliche Nachricht-----
>> Von: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> Gesendet: 30.10.07 09:17:59
>> An: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>
>
>>
>> I am using a simple cylinder and the function GetAngularVelocity from the
>> body (not from the cylinder geom):
>> GzQuatern angVel= this->body->GetAngularVel();
>> GzVector eulers = GzQuaternToEuler(angVel);
>> printf("%f \n", eulers.z); returns values from -3.14 to +3.14 and they
>> change in this spectrum even on a constant turning speed.
>> I don't set the angular velocity, because it's the global variable. I
>> think this is set automatically.
>>
>> The body is initialized like this:
>> this->body = new Body( this->world );
>> this->AddBody(this->body, true);
>>
>> Jonas
>>
>> > -----Ursprüngliche Nachricht-----
>> > Von: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> > Gesendet: 29.10.07 19:06:14
>> > An: "Gazebo developers" <playerstage-gazebo@lists.sourceforge.net>
>> > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>>
>>
>> >
>> > Can you provide some more information? What type of geometry are your
>> > using? And exactly what function are you using to get/set the angular
>> > velocity?
>> >
>> > -nate
>> >
>> > On 10/29/07, Jonas Lanvers <jon...@web.de> wrote:
>> > > I tried this, but it didn't work.
>> > > With a constant turning speed (that should propably result in a more
>> or less constant angular velocity) I get values from -2 over 0 to 2.
>> > > In my opinion angular velocity is, how much the angle on a specific
>> axis changes in time. So the vaules should raise and then, stay constant.
>> > > The values I get are sinus-like.
>> > >
>> > > Jonas
>> > > -
>> > > -----Ursprüngliche Nachricht-----
>> > > Von: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>> > >
>> > >
>> > > Hello,
>> > >
>> > > There is a function in gazebo's quaternion class to convert to Euler
>> > > angles. It might be easier to work with.
>> > >
>> > > -nate
>> > >
>> > > On 10/29/07, Jonas Lanvers <jon...@web.de> wrote:
>> > > > Hello again :-)
>> > > > My quaternion to angle conversion seemed to be completely wrong.
>> > > > Does anybody know how to convert the Quaternion from
>> Body->GetAngularVel() to degrees / second?
>> > > > I tried a lot of formulas, but they all don't work. The output
>> becomes smaller and bigger although I run it with a constant rotation
>> speed.
>> > > > So the angular velocity also has to be more or less constant,
>> doesn't it?
>> > > >
>> > > > Thanks in advance
>> > > >
>> > > > Jonas
>> > > > -----Ursprüngliche Nachricht-----
>> > > > Von: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> > > > Gesendet: 23.10.07 19:46:05
>> > > > An: "Gazebo developers" <playerstage-gazebo@lists.sourceforge.net>
>> > > > Betreff: Re: [PlayerStage-Gazebo] Simulate gyroscope in gazebo
>> > > >
>> > > >
>> > > > Yeah, the drift does seem to be a problem. Are there any
>> mathematical
>> > > > models for drift, or simple ways to estimate it? If all else fails,
>> > > > maybe adding a little gaussian noise will do the trick. However,
>> take
>> > > > that with a grain of salt, I'm no expert on gyroscopes.
>> > > >
>> > > > -nate
>> > > >
>> > > > On 10/23/07, Jonas Lanvers <jon...@web.de> wrote:
>> > > > > Hi,
>> > > > >
>> > > > > The object does not have to spin. I only need orientation and
>> drift.
>> > > > > Orientation seems to be no problem, I got this by converting the
>> Global Pose Quaternion.
>> > > > > But drift seems to be a problem, doesn't it?
>> > > > >
>> > > > > Jonas
>> > > > >
>> > > > > -----Ursprüngliche Nachricht-----
>> > > > > Von: Gazebo developers <playerstage-gazebo@lists.sourceforge.net>
>> > > > > Gesendet: 22.10.07 23:59:05
>> > > > >
>> > > > >
>> > > > > A gyroscope might be possible. Do you want an actively spinning
>> > > > > object, or just a sensor that measures/maintains orientation?
>> > > > >
>> > > > > -nate
>> > > > >
>> > > > > On 10/18/07, Jonas Lanvers <jon...@web.de> wrote:
>> > > > > > Is there any way (or better a plugin ) to simulate a gyroscope
>> in gazebo?
>> > > > > >
>> > > > > > Jonas
>
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