Hi Anton, Can you give a more specific scenario/example? I.e. what you expect to see and what the service call actually returns. thanks, John On Mon, Oct 4, 2010 at 11:51 PM, Antons Rebguns wrote: > John, > > Yes, we did set the relative_entity_name to > "robot_description::base_footprint" for our robot coordinate frame. It works > as expected if you set that to "world", e.g. the object's pose is returned > in the world frame, but it return some unexpected numbers if we set it to > robot's footprint frame. > > Anton > > > On Mon, Oct 4, 2010 at 11:40 PM, John Hsu wrote: > >> Hi Anton, >> >> Did you set relative_entity_name to "ModelName::BodyName" of the reference >> entity? Without specifying relative_entity_name the pose returned will be >> in the gazebo world frame. >> >> John >> >> On Mon, Oct 4, 2010 at 11:25 PM, Antons Rebguns wrote: >> >>> Hello folks, >>> >>> We hit what looks like a bug in implementation of get_model_state service >>> in Gazebo. The scenario that we are working with is the following: imagine >>> an object and a robot that is always oriented towards this objects and is >>> certain distance away from it. We expect the object's position in robot's >>> coordinate frame to be, let's say, 40cm away on x axis and 0 cm on y axis. >>> Now if we rotate both the robot and the object by 180 degrees, we would >>> expect that relative position would stay the same since robot is still >>> looking straight at an object and it didn't move anywhere in relation to the >>> object, but gazebo gives us -40cm on x axis and 0 on y axis. These numbers >>> get weirder with different yaw angles of the robot with respect to the world >>> coordinate frame. So it looks like the absolute location in the world still >>> matters when getting the relative pose of one objects in some other >>> coordinate frame (except 'world'). Is there something obvious that I am >>> missing here? >>> >>> Thanks, >>> Anton >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >