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Stageros: cannot change z coordinate of base_link → base_laser tf

asked 2013-05-02 17:32:04 -0600

jorge gravatar image

updated 2013-09-08 18:52:52 -0600

Hello all, for any reason I cannot put the laser of my robot at its real height in the Stage-simulated version. The maximum z I get is 0.15 m! No idea why. I have tried to resize the robot model, to place the laser higher than real position, and more, but nothing helps. Is not a critical issue but annoying, as it force me to keep two different versions of costmap sensors configuration (simulated and real).

Here is my robot model (a turtlebot):

define kinect ranger
(
  sensor
  (
    range_max 6.5
    fov 58.0
    samples 640
  )
  # generic model properties
  color "black"
  size [ 0.06 0.15 0.03 ]
)

define turtlebot position
(
  pose [ 0.0 0.0 0.0 0.0 ]

  odom_error [0.03 0.03 999999 999999 999999 0.02]

  size [ 0.33 0.33 0.40 ]
  origin [ 0.0 0.0 0.0 0.0 ]
  gui_nose 1
  drive "diff"
  color "gray"

  kinect(pose [ -0.1 0.0 0.3 0.0 ])
)

And the base_link → base_laser tf:

- Translation: [-0.100, 0.000, 0.150]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, -0.000, 0.000]

Thanks!

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Comments

If you change '0.3' in line 'kinect(pose [ -0.1 0.0 0.3 0.0 ])', Doesn't Translation change?

gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-05-03 03:07:18 -0600 )edit

Nop... surprisingly z-value keeps being 0.15 regardless whatever I put on pose.z. I wonder if it's just a limitation of the code.

jorge gravatar imagejorge ( 2013-05-03 16:22:42 -0600 )edit

have you tried to define a block within kinect model?

gustavo.velascoh gravatar imagegustavo.velascoh ( 2013-05-04 05:10:34 -0600 )edit

I have tried just now and doesn't helps: define kinect ranger ( ... block ( size [ 0.06 0.15 0.03 ] pose [ 0.0 0.0 1.0 0.0 ] gui_nose 0 color "red" ) )

jorge gravatar imagejorge ( 2013-05-05 14:36:37 -0600 )edit

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answered 2013-09-08 17:11:25 -0600

jorge gravatar image

This problem is fixed on stage hydro

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Asked: 2013-05-02 17:32:04 -0600

Seen: 230 times

Last updated: Sep 08 '13