However, as seen in the video, the wheels rotate (which indicates that my controller works) and the robot does not move (which means that ODE integration is failing somewhere) I would have been happy if the robot were to have stopped. Are you sure it does not comes from your controller which seems to stop the robot in case of some OpenCV event, and try to display some OpenCV window (which may block the controller)? I always set it to false (at least while testing the quadcopter code).Ībout the Pioneer3at behavior which depends on the WorldInfo.basicTimeStep field, this is more surprising. That is why I have one variable teleoperation in my rover controller. I would recommend you to open more issues, but to reduce their focus and simplify them at best first Thanks for looking into this. You can build Webots from sources using these instructions: Could you simplify it? (removing the cv2 code for example)īut, how can I start digging into the Webots source code? But I would suspect first your Pioneer controller. The internal code within Webots is running GUI asynchronously with mutex/semaphore locks or something similar and that is causing issues. The wheel slip plugin is not working correctly (especially when the time step is small) as there may be some sort of synchronisation issue. Webots uses Qt for this GUI, ODE for its physics engine, and WREN (home made rendering engine9 for its rendering. Webots and Gazebo are not linked at all in any way :-) At least, they are more or less similar internally. In Webots, Gazebo is being run with some additional GUI. About the Pioneer3at behavior which depends on the WorldInfo.basicTimeStep field, this is more surprising.If you would like to go further in drone control, I would recommend you to use an existing drone control library, and wrap it with our simulation. Moreover, the example is more a proof of concept than an example to follow. If you use other physics parameters (including WorldInfo.basicTimeStep), these constants should be adjusted. However, I think this is a quite normal behavior: this simulation is very sensitive on inputs, constants have been empirically found and optimized for the mavic_2_pro.wbt simulation only. I can indeed reproduce the issue about the Mavic2 which changes its behavior depending on the WorldInfo.basicTimeStep field.I looked quickly at your issue, I can run your simulation in my environment. I allow myself to follow up this topic, as is off this week.
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