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Changing the stereo camera angle in PR2 simulation

asked 2012-06-17 20:35:45 -0500

updated 2014-11-22 17:05:31 -0500

ngrennan gravatar image

Hi, I was going through pick and place tutorial for PR2 robot (in simulation).

I noticed that /narrow_stereo(_textured) angle (in gazebo and rviz) got set such that now it covers things at a distance (previously it was set such that it was covering a part of its base and the table). In this setting it is unable to pick anything as all the objects which it detects are out of its reach.

How can I change the angle of the stereo camera (probably that requires changing the head angle)??

I am able to move arm around using the tutorial : http://ros.org/wiki/pr2_simulator/Tutorials/Teleop%20PR2%20arm%20in%20simulation

and launch file : http://ros-users.122217.n3.nabble.com/yaml-file-for-CartesianPoseController-JTTeleop-etc-td1396230.html

But I do not understand what exactly is happening in the launch file. I guess I might be able to solve the problem if I understand this completely.

I think error posted at :[ http://answers.ros.org/question/31995/how-to-solve-tabletop-detection-returned-error/?answer=36455#post-id-36455 ] could also be because of this.

Any help/pointers is greatly appreciated.

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answered 2012-06-17 22:52:45 -0500

Erwan R. gravatar image

Hello !

I think that tutorial could help you : moving head.

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Hey Erwan, Thanks a lot, This nice tutorial explains, why I was not getting any similar question on the forum. :-)

aknirala gravatar image aknirala  ( 2012-06-18 00:04:45 -0500 )edit

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Asked: 2012-06-17 20:35:45 -0500

Seen: 396 times

Last updated: Jun 17 '12