I've found that the p2os driver returns a wrong number of sonas
when tested with a Peoplebot robot.
It seems that the problem is the next line in p2os.cc:
geom.bumper_def_count =3D PlayerRobotParams[param_idx].FrontBumpers +
that is adding FrontBumpers and RearBumpers instead of NumFrontBumpers an=
By the way, I implemented a quick and dirty code for the IR sensors of th=
Peoplebot. I someone would like to see the code, you can email me.