techy's profile - activity

There were a number of changes to the multisense sensor head in the most recent version of DRCSIM. Strange inertial values have been added to the head for each frame. See below:

  <link name="head_hokuyo_frame">
    <inertial>
      <mass value="1e-5" />
      <!-- collocate with parent link and remove mass from it -->
      <origin xyz="0.042428 0.0004084 0.0108165" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

Where do these numbers come from and what do they mean? Are they significant?

See linked figure. There is a sun (the green square) directly above the robot and scene yet the shadows fall to the bottom right corner.

Whats the source of this shadowing?

link text

Thanks Thomas, that's perfect. maurice

If I build a simple object such as a cylinder or a box I can add texture from the gazebo.material file e.g.:

     <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/CeilingTiled</name>
      </script>

And this is matched with the block from the gazebo.material file:

material Gazebo/CeilingTiled { receive_shadows on

technique { pass { ambient 0.5 0.5 0.5 1.000000

  texture_unit
  {
    texture ceiling_tiled.jpg
  }
}

} }

... and then I can get a nice textured and properly lit object in Gazebo.

But this seems to be limited to just the materials in this particular file - about 20 of them. How can I specify my own .material file to map my own texture onto the object model?