On Thu, 23 Sep 2004, Nanoon Talena wrote:
> Is it possible to use color bitmap(pnm in world
> file) in Stage where color lines/pixels will not be
> recognized as obstacle boundaries? I'd like to put
> some color markers on the world where I can visually
> recognize my robot's position. I'm using Player
> 1.5/Stage 1.3.4/librtk 2.3.
As far as I know, you can't do that. Any non-black pixel in the bitmap is
treated by Stage as occupied and so is an obstacle to robots. A workaround
would be to create a colored "box" object in your .world file, place
it where you want, and make it invisible to robots:
size [0.2 0.2]
Then you can see it in the GUI, but the robots can't interact with it.
Unfortunately, the box entity doesn't pay attention to the *_return
settings, like it should; instead it sets them all to true regardless
of what is in the .world file. So to make this work, you'll also
have to hack the Stage source a little. Look in src/models/box.cc at
CBox::CBox(), and comment out the lines that assign values to *_return.
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey