Hello Guys,
i used a ros gazebo code example to get on my model state data for my objects in the world.
class Block:
def __init__(self, name, relative_entity_name):
self._name = name
self._relative_entity_name = relative_entity_name
class Tutorial:
_blockListDict = {
'block_a': Block('fire_hydrant', 'link')
}
def show_gazebo_models(self):
try:
model_coordinates = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
for block in self._blockListDict.itervalues():
blockName = str(block._name)
resp_coordinates = model_coordinates(blockName, block._relative_entity_name)
print '\n'
print 'Status.success = ', resp_coordinates.success
print(blockName)
print("fire_hydrant " + str(block._name))
print("x Wert : " + str(resp_coordinates.pose.position.x))
print("Y Wert : " + str(resp_coordinates.pose.position.y))
except rospy.ServiceException as e:
rospy.loginfo("Get Model State service call failed: {0}".format(e))
So i get the x and y position for my fire hydrant. Now my problem is that there is a deviation for arround 0.5 for the x Value only the x value the y value and the z value are correct. And there are another deviations for the x and y data i got from my slam map.
I don´t think that this is normal or am i wrong ?
↧