John Right. I will try to come up with a simple world that will hopefully illustrate the problem we are having. Thanks, Anton On Tue, Oct 5, 2010 at 12:09 AM, John Hsu wrote: > 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 >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >