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Distance measure in gazebo?

asked 2014-05-28 12:07:02 -0500

TyNguyen gravatar image

updated 2014-05-28 12:21:06 -0500

Could anyone tell me 1 coordinate unit = ? meter? My heightmap image's size is 65*65. If i set in sdf file: heightmap's size is (x,y,z) = 65 * 65 * 2, then i see my terrain x coordinate will range from -32 to + 32.

If i set in sdf file: heightmap's size is (x,y,z) = 131 * 131 * 2, then i see my terrain x coordinate will range from -65 to + 65.

But in the above two cases, the following relationship between delta_X and traveled distance still hold: Traveled distance = 5 * delta-X (My car runs along x axis and i use the following function time by time to get delta-X within time of delta-t:

math::Pose orig_pose = this->model->GetWorldPose().pos.x ) So does this make sense? and are there any other better method to measure traveled distance?

Thanks

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answered 2017-01-12 20:56:51 -0500

All length measurements in Gazebo are in meters. So your heightmap sizes are 65x65 m and 131x131 m respectively.

When you get your model's world pose, that is also expressed in meters, in the world frame. So if the model's x position is 0 m and after 10 seconds it is 10 m, the displacement in the x-axis is 10 m.

I'm not sure why you are multiplying by 5 in your expression.

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Asked: 2014-05-28 12:07:02 -0500

Seen: 1,310 times

Last updated: Jan 12 '17