I need to use the plugin to control the vehicle in a dynamic environment where humans are simulated. And I don't need the dynamics/physics of the car, i.e. I only care about the pose of the vehicle. So there seems to be two ways to achieve my goal. The first is to use simSetVehiclePose() and simPause() in car mode to control the vehicle. The second is to use the computer vision mode and simPause(). But both of them have some issues.
Using use simSetVehiclePose() and simPause() in car mode: I found if the simulation is paused and the car position is set by simSetVehiclePose(), then the returned kinematics value will be drastically different from the result where the simulation is not paused. Especially the angular_acceleration and linear_acceleration have large values. I suspect the simSetVehiclePose() is not supposed to be used in car mode and when the kinematics are calculated, the instant position change will be take into account of the acceleration.
Currently simPause() is not implemented in computer vision mode.
Is the first issue a bug? And is the second feature desirable? I can fill a pull request for adding simPause() in the computer vision mode.
jonyMarino
commented
4 years ago
Hi,
I need to use the plugin to control the vehicle in a dynamic environment where humans are simulated. And I don't need the dynamics/physics of the car, i.e. I only care about the pose of the vehicle. So there seems to be two ways to achieve my goal. The first is to use simSetVehiclePose() and simPause() in car mode to control the vehicle. The second is to use the computer vision mode and simPause(). But both of them have some issues.
Using use simSetVehiclePose() and simPause() in car mode: I found if the simulation is paused and the car position is set by simSetVehiclePose(), then the returned kinematics value will be drastically different from the result where the simulation is not paused. Especially the angular_acceleration and linear_acceleration have large values. I suspect the simSetVehiclePose() is not supposed to be used in car mode and when the kinematics are calculated, the instant position change will be take into account of the acceleration.
Currently simPause() is not implemented in computer vision mode.
Is the first issue a bug? And is the second feature desirable? I can fill a pull request for adding simPause() in the computer vision mode.