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Where can I find a good documentation about the UWSim in ROS. Actually having the source files is not enough and it is actually hard to follow all the functions. for example, how can I use these command correctly :
& rosrun UWSim gotoAbsolutePosition 0 0 0 0 0 0
I know that there is a node 'gotoAbsolutePosition' in the Package 'UWSim' and I knwo the variables, but I cannot set the two topics properly.
Hi NKN, unfortunately there is not much documentation about UWSim yet, just what there is on the wiki:
http://www.irs.uji.es/uwsim/wiki/
However, it comes with a set of examples that should be self explanatory, being gotoAbsolutePosition one of them. It requires a nav_msgs/Odometry topic where UWSim is publishing its current pose (via a PATToROSOdom interface), and another nav_msgs/Odometry topic where UWSim is listening for position update messages (via a ROSOdomToPAT interface).
Your scene xml file must include these interfaces and specify the topics, e.g:
<ROSOdomToPAT>
<topic> /pose_update </topic>
<vehicleName> your_vehicle_name </vehicleName>
</ROSOdomToPAT>
<PATToROSOdom>
<topic> /current_pose </topic>
<vehicleName> your_vehicle_name </vehicleName>
</PATToROSOdom>
Note that the default cirs.xml scene does not include the PATToROSOdom, so you need to add it explicitly if you want to use the gotoAbsolutePosition example.
Then, with UWSim running, you should be able to do:
rosrun UWSim gotoVehiclePose /current_pose /pose_update 10 0 0 0 0 0
Hope that helps!
Just to avoid misleadings, the correct command is gotoAbsolutePosition instead of gotoVehiclePose. So the complete line should be: rosrun UWSim gotoAbsolutePosition /current_pose /pose_update 10 0 0 0 0 0 Anyway answer is perfect.
Hi, The lines that mario posted as code should be in your config file (by default cirs.xml). You can, and should, edit cirs.xml as this is the scene configuration file. After editing it you will need a catkin_make install in order to move these config files to a place where uwsim is able to findthem
As I said on my previous message you need "catkin_make install" without install you are loading the old xml file which was copied to your shared folder
Asked: 2013-08-28 06:52:01 -0600
Seen: 568 times
Last updated: Apr 20 '14
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