[ros-users] Gazebo: get_model_state returns wrong relative pose?

[Antons Rebguns]

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 <johnhsu at willowgarage.com> 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 <anton at email.arizona.edu>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
>>
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>
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