Hello everyone, i'm using Gazebo to simulate a PD controller on a quadrotor UAV. The control evalueates the force and torque to apply to the quadrotor and then i use the methods dBodyAddRelForce(body_id, 0, 0, thrust) and dBodyAddRelTorque(body_id, roll_torque, pitch_torque, 0). Now i would like to get information about position, velocity and acceleration of the quadrotor. To do so, i use the methods: body->GetPosition() body->GetLinearVel() body->GetLinearAccel() and the last one appears to give practically nonsense results (gravity acceleration depending on the mass for instance...). Browsing into the code i found out that GetLinearAccel() simply does return this->GetForce() / this->GetMass(); That is " F = m*a " as it should be. Anyway the controller works and the quadrotor get still on the target point, but the acceleration i get on the z axis is positive (e.g. = 19.6) even though the quadrotor is not varying its height. I really have no point...please help me! :) Thanks in advance.
Luca For the sake of completeness i'm using the following software version: Gazebo - 0.9.0 Player - 2.1.3 http://old.nabble.com/file/p31215867/QuadrotorControllerPD.cc QuadrotorControllerPD.cc -- View this message in context: http://old.nabble.com/Get-acceleration-from-Gazebo-%28is-it-working-%29-tp31215867p31215867.html Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------------ Xperia(TM) PLAY It's a major breakthrough. An authentic gaming smartphone on the nation's most reliable network. And it wants your games. http://p.sf.net/sfu/verizon-sfdev _______________________________________________ Playerstage-gazebo mailing list Playerstage-gazebo@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
