PEIS Home Simulator - Ãrebro universitet

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The model declaration in the world file: plugins/TableShelf/TableShelf.so 2.362 3.814 0.7605 0 0 -90 1 3.2.7 Wall cabinet This is a model of a wall mounted cabinet. Figure 3.15 The cabinet model as it appears in Gazebo. The door opens upward and has a transparent glass part in it. The greenish part inside is a shelf. Model declaration in the world file: plugins/WallCabinet/WallCabinet.so 0.185 2.610 1.735 0 0 0 3.3 Problems Fixed models There does not seem to be any way to code a model such that it will remain fixed in the environment by itself. The walls and other fixtures needed to be fixed in one place and it was also decided that some of the furniture should not be possible to move. This was solved by attaching them to the ground plane in the simulation to which it is possible to attach models like with any other model and it is always fixed in the environment. Unnecessary Collision Detection During development it was discovered that adding the walls to the simulation environment caused the simulation to slow-down. The walls were attached to the floor and it would appear that the contact between the walls led to many calculations being performed for the collision detection between the walls and floor. This was undesired and a way to indicate what objects should perform collision detection between each other was discovered. 23
To avoid unnecessary computations collisions were disabled between non-device objects that were intended to be fixed in place. This includes the floor, walls, windows, all the parts making up the kitchen area except for the cabinet doors and all furniture except for the small, wheeled table and the chairs. One drawback to this is that the models currently intended to be fixed in the environment cannot be placed by themselves but must be attached to the ground. Since collisions are disabled between these models and the floor they would fall right through it. Attaching models There is a problem with attaching models to other models that are complex in the sense that they consist of many shapes put together. Models like the walls or the main kitchen model. Attaching models to these can result in unstable physic behaviours, such as attached models seeming to vibrate or shake and can in some cases cause the simulator to crash. During development this was very clear when at first the cabinet doors were attached to the main kitchen model, the simulator would always crash when anything collided with the doors. This was solved by instead of attaching models to the walls or kitchen model directly they were instead attached to the GroundPlane. Because of this solution however there is an inconvenience in that should the kitchen or walls model moved models that should be placed on them need to be moved individually to correct positions (the cabinet doors for instance). 24
Page 1 and 2: Examensarbete 20 poäng D-nivå PEI
Page 3 and 4: Contents ABSTRACT..................
Page 5 and 6: Acknowledgements Thanks go to the f
Page 7 and 8: Figure 1.1 Physical Layout of the P
Page 9 and 10: 2 The Player Project The Player Pro
Page 11 and 12: The start and end tags; “” and
Page 13 and 14: 3 Simulation Environment 3.1 Home H
Page 15 and 16: As can be seen in the images one wa
Page 17 and 18: 3.1.5 Kitchen There are a few model
Page 19 and 20: The models together: Figure 3.8 The
Page 21 and 22: 3.2.2 Bookcase This is a basic book
Page 23: 3.2.5 Sofa This is a model of a sof
Page 27 and 28: Images from the camera in the simul
Page 29 and 30: Model declaration in the world file
Page 31 and 32: Model declaration in the world file
Page 33 and 34: Player Interfaces The fridge provid
Page 35 and 36: Player Interfaces The manipulator m
Page 37 and 38: Some images showing comparison betw
Page 39 and 40: 7.2 Limitations and Problems In thi
Page 41: 8 References 1) A. Saffiotti and M.

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PEIS Home Simulator - Ãrebro universitet