Hello all,
for any reason I cannot put the laser of my robot at its real height in the Stage-simulated version. The maximum z I get is 0.15 m! No idea why. I have tried to resize the robot model, to place the laser higher than real position, and more, but nothing helps. Is not a critical issue but annoying, as it force me to keep two different versions of costmap sensors configuration (simulated and real).
Here is my robot model (a turtlebot):
define kinect ranger
(
sensor
(
range_max 6.5
fov 58.0
samples 640
)
# generic model properties
color "black"
size [ 0.06 0.15 0.03 ]
)
define turtlebot position
(
pose [ 0.0 0.0 0.0 0.0 ]
odom_error [0.03 0.03 999999 999999 999999 0.02]
size [ 0.33 0.33 0.40 ]
origin [ 0.0 0.0 0.0 0.0 ]
gui_nose 1
drive "diff"
color "gray"
kinect(pose [ -0.1 0.0 0.3 0.0 ])
)
And the base_link → base_laser tf:
- Translation: [-0.100, 0.000, 0.150]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY [0.000, -0.000, 0.000]
Thanks!
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