Model can't be fixed the orientation
Hello, Gazebo community!
I was learning the tutorial about the placing models in some orders and I wanted to implement it in my project. I took some models from 3D google repository and corrected them by following this tutorial.
My problem is the model (white_shelf2) can't be rotated on 90 degrees. I tried differently to fix the numbers of orientation (yaw exactly) in the world file (below it attached), but I cant still understand why the number were not published in Gazebo.
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://market_layout</uri>
<name>market layout</name>
<pose>0.107915 -0.228911 0.00 0.00 0.00 0.00</pose>
</include>
<include>
<uri>model://kassa</uri>
<name>kassa</name>
<pose>-4.712210 0.153002 -0.000002 0.000003 0.00 -1.573301</pose>
</include>
<population name="white_shelves_population1">
<model name="white_shelf1">
<include>
<static>true</static>
<uri>model://white_shelves</uri>
</include>
</model>
<pose>0.5 -7.4 0 0 0 0</pose> <!--pose of all shelves together -->
<box>
<size>14 0.5 3</size> <!-- <size> is size of all shelves; all shelves will be in the size together -->
</box>
<model_count>14</model_count>
<distribution>
<type>linear-x</type> <!-- models place along x-axis -->
</distribution>
</population>
<population name="white_shelves_population2">
<model name="white_shelf2">
<include>
<static>true</static>
<uri>model://white_shelves</uri>
</include>
</model>
<pose>7.313923 1.442630 0.0 0.0 0.0 1.623000</pose>
<box>
<size>0.5 1.0 3.0</size>
</box>
<model_count>1</model_count>
<distribution>
<type>linear-y</type>
</distribution>
</population>
</world>
</sdf>
This is screenshots:
In GUI, I placed the model in right position for getting the pose coordinates. Because, the "save" function doesn't work there, so I fixed the coordinates in my world file.
Jade, Ubuntu 14.04, Gazebo 5.1.0
Thank you in advance!
Which number are you changing? You should change this line by editing the last number: <pose>7.313923 1.442630 0.0 0.0 0.0 1.623000</pose>
Which number are you changing? You should change this line by editing the last number: <pose>7.313923 1.442630 0.0 0.0 0.0 1.623000</pose>
Which number are you changing? You should change this line by editing the last number: ```<pose>7.313923 1.442630 0.0 0.0 0.0 1.623000</pose>```
There are two <population> tags. I have a problem with last one (white_shelves_population2). The <pose> 7.313923 1.442630 0.0 0.0 0.0 1.623000 </pose> doesnt fix in the model and the screenshots illustrates it.