You can no longer specify the robot's size for the 'vfh' or 'wavefront'
drivers in the configuration file. Each driver now gets the robot's
size from the underlying position device; 'robot_radius' in the .cfg file
will be ignored.
This is a Good Thing, because now the robot's size only needs to
specified in one place, usually either in the simulation model or
hardware driver (*).
If you want to pretend your robot is bigger (e.g., if it runs into
things), use the 'safety_dist' option in the .cfg file to give you some
wiggle room (both drivers accept this option). You might also be able
to use a negative safety distance to pretend your robot is smaller,
but I don't know whether that will work.
I had to re-architect 'vfh' a bit, so let me know if anything's broken.
(*) Not all hardware drivers will necessarily return the correct robot
size. In particular, the 'p2os' driver is currently always reporting
the dimensions of a Pioneer 2, no matter what kind of robot is
actually in use. I'll fix that.
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey