Re: Laser pose from gazebo to player

If you are using a gazebo plugin you should be able to get access, if you
are relying on the published proto streams you might have less luck.

On Tue, 28 Mar 2017, 21:02 Fred Labrosse, <[email protected]> wrote:

> 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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