You should be able to arrange the servers so all of the stage related parts are in one file and the navigation for each robot in seperate, in this way you can use one stage world for all three robots.

Toby

2009/3/30 Arnaud Doniec <doniec@ensm-douai.fr>
When I try running playernav with separate player servers (and
consequently several stage world), it works...


Toby Collett a écrit :
> can you try running the navigation parts in seperate player servers?
> it could be one of the drivers is using static memory or something
> like that...
>
> 2009/3/28 Arnaud Doniec <doniec@ensm-douai.fr
> <mailto:doniec@ensm-douai.fr>>
>
>     Hi all,
>
>     I'm trying to control three robots using playernav.
>     The localisation is ok for the three robots, the computed
>     path of each robot appears in playernav but only one robot
>     (the first one declared in the .cfg file) realize its move.
>
>     Here is the .cfg I used:
>
>     driver
>     (
>      name "stage"
>      plugin "libstageplugin"
>      provides ["simulation:0"]
>      worldfile "simple.world"
>     )
>
>     driver
>     (
>      name "stage"
>      provides ["6667:map:0"]
>      model "cave"
>     )
>
>     # robot 1
>     driver
>     (
>      name "stage"
>      provides ["6667:position2d:0" "6667:laser:0"]
>      model "robot1"
>     )
>
>     driver
>     (
>      name "vfh"
>      provides ["6667:position2d:1"]
>      requires ["6667:position2d:0" "6667:laser:0"]
>      distance_epsilon 0.3
>      angle_epsilon 5
>     )
>
>     driver
>     (
>      name "amcl"
>      provides ["6667:localize:0" "6667:position2d:2"]
>      requires ["odometry::6667:position2d:0" "6667:laser:0"
>     "laser::6667:map:0"]
>     )
>
>     driver
>     (
>      name "wavefront"
>      provides ["6667:planner:0"]
>      requires ["output::6667:position2d:1" "input::6667:position2d:2"
>     "6667:map:0"]
>      safety_dist 0.15
>      distance_epsilon 0.5
>      angle_epsilon 10
>      alwayson 0
>     )
>
>     #robot2
>     driver
>     (
>      name "stage"
>      provides ["6666:map:0"]
>      model "cave"
>     )
>
>
>     driver
>     (
>      name "stage"
>      provides ["6666:position2d:0" "6666:laser:0"]
>      model "robot2"
>     )
>
>     driver
>     (
>      name "vfh"
>      provides ["6666:position2d:1"]
>      requires ["6666:position2d:0" "6666:laser:0"]
>      distance_epsilon 0.3
>      angle_epsilon 5
>     )
>
>     driver
>     (
>      name "amcl"
>      provides ["6666:localize:0" "6666:position2d:2"]
>      requires ["odometry::6666:position2d:0" "6666:laser:0"
>     "laser::6666:map:0"]
>     )
>
>     driver
>     (
>      name "wavefront"
>      provides ["6666:planner:0"]
>      requires ["output::6666:position2d:1" "input::6666:position2d:2"
>     "6666:map:0"]
>      safety_dist 0.15
>      distance_epsilon 0.5
>      angle_epsilon 10
>      alwayson 0
>     )
>
>     #robot3
>
>     driver
>     (
>      name "stage"
>      provides ["6665:map:0"]
>      model "cave"
>     )
>
>     driver
>     (
>      name "stage"
>      provides ["6665:position2d:0" "6665:laser:0"]
>      model "robot3"
>     )
>
>     driver
>     (
>      name "vfh"
>      provides ["6665:position2d:1"]
>      requires ["6665:position2d:0" "6665:laser:0"]
>      distance_epsilon 0.3
>      angle_epsilon 5
>     )
>
>     driver
>     (
>      name "amcl"
>      provides ["6665:localize:0" "6665:position2d:2"]
>      requires ["odometry::6665:position2d:0" "6665:laser:0"
>     "laser::6665:map:0"]
>     )
>
>     driver
>     (
>      name "wavefront"
>      provides ["6665:planner:0"]
>      requires ["output::6665:position2d:1" "input::6665:position2d:2"
>     "6665:map:0"]
>      safety_dist 0.15
>      distance_epsilon 0.5
>      angle_epsilon 10
>      alwayson 0
>     )
>
>     What's wrong with my config file ?
>
>     Thanks for you help,
>
>     Arnaud
>
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