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

[John Hsu]

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 <anton at email.arizona.edu>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 <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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>
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