Re: Laser pose from gazebo to player

Hi Toby,

Thank you for that.

The level of abstraction is whatever is accessible from the sensor data.
  I'll have a look at what you suggest but I don't known if this will be
accessible from the sensor.  I guess it must be at some level.

Cheers,

Fred


On 27/03/17 22:38, Toby Collett wrote:
> What level of abstraction are you using for accessing the pose? The
> gazebo physical links should have a
> GetRelativePose() http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Entity.html#a20e0dee2e15afac1b8c9ffd102e80528
>
> Otherwise you can do this yourself by fetching the parent model and its
> world pose...
>
> - Toby
>
>
> On Tue, 28 Mar 2017 at 04:26 Fred Labrosse <[email protected]
> <mailto:[email protected]>> wrote:
>
>     All,
>
>     I'm working on adding more functionality to gazebo so that the interface
>     to player is more feature rich!  I'm doing that to get a 3D simulator
>     working with player, while I still use player.
>
>     I'm working based on gazebo 8.
>
>     So far I have added the GPS, and that seems to work fine.
>
>     I have now modified the laser interface and most of the data is now
>     passed to player and a lasertoranger can make sense of it.  So (almost)
>     all good.
>
>     What is missing is the pose of the laser.  I might be wrong but it seems
>     that gazebo only has a world pose for the laser, not a pose relative to
>     whatever it is mounted to.
>
>     Anybody has any idea?  Have I missed something obvious?
>
>     Cheers,
>
>     Fred
>
>
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