You want to add something like this to your config file

driver
(
 name "stage"
 provides ["map:0" "graphics2d:0"]
 model "cave"
)

Toby

2009/5/13 Andreas Vogt <andreas.vogt@dfki.de>
Hi,

Here...

Thanks



Toby Collett schrieb:
Can you attache your config files.

Toby

2009/4/29 Andreas Vogt <andreas.vogt@dfki.de <mailto:andreas.vogt@dfki.de>>




   Hi Tobi ,
   I tried this but then I recieve this:

   wavefrontTest.cfg:55 warning: field [provides] has unused element 1
   listening on 6665
   listening on 6667
   listening on 6668
   listening on 6669
   Listening on ports: 6665 6667 6668 6669
   accepted TCP client 0 on port 6665, fd 18
   MapFile loading image file:
   /home/andreas/stage/worlds/./bitmaps/cave.png...Done.
   MapFile read a 500 X 500 map, at 0.030 m/pix
   warn: Stage ignores motor power state (1) (p_position.cc
   ProcessMessage)
   robot radius: 0.165
   Wavefront: Loading map from map:0...
   scale: 0.030
   Generating C-space....
   Done.
   error   : tried to connect to self (127.0.0.1:6665:55:0)

   error   : unable to subscribe to graphics2d device
   error   : Driver failed to Setup (-1)
   error   : Select called failed in File Watcher: 4 Interrupted
   system call
   Quitting.
   closing TCP connection to client 0 on port 6665
   error   : StopThread called when state != running or restarting (0)
   All Stage drivers have been shutdown.


   --
   Andreas Vogt
   DFKI-Labor Bremen
   Robert-Hooke-Straße 5
   28359 Bremen, Germany

   Phone: +49 (0)421 218-64140
   Fax:   +49 (0)421 218-64150
   E-Mail: andreas.vogt@dfki.de <mailto:andreas.vogt@dfki.de>


   Weitere Informationen: http://www.dfki.de/robotik
   -----------------------------------------------------------------------
   Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
   Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
   Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
   (Vorsitzender) Dr. Walter Olthoff
   Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
   Amtsgericht Kaiserslautern, HRB 2313
   -----------------------------------------------------------------------





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--

Andreas Vogt
DFKI-Labor Bremen
Robert-Hooke-Straße 5
28359 Bremen, Germany

Phone: +49 (0)421 218-64140
Fax:   +49 (0)421 218-64150
E-Mail: andreas.vogt@dfki.de

Weitere Informationen: http://www.dfki.de/robotik
-----------------------------------------------------------------------
Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern, HRB 2313
-----------------------------------------------------------------------

# load the Stage plugin simulation driver
driver
(
 name "stage"
 provides ["simulation:0"]
 plugin "libstageplugin"
 # load the named file into the simulator
 worldfile "simple.world"
)

driver
(
 name "laserposeinterpolator"
 provides ["laser:1"]
 requires ["laser:0" "position2d:0"]
)

driver
(
 name "stage"
 provides ["position2d:0" "laser:0" "graphics2d:0"]
 model "r0"
)

#robot 2
driver(
 name "stage"
 provides ["6667:position2d:0" "6667:laser:0"]
 model "r1"
)
driver(
 name "stage"
 provides ["6668:position2d:0" "6668:laser:0"]
 model "r2"
)
driver(
 name "stage"
 provides ["6669:position2d:0" "6669:laser:0"]
 model "r3"
)



# Load the map for localization and planning from the same image file,
# and specify the correct resolution (a 500x500 pixel map at 15m x 15m
# is 0.03 m / pixel resolution).

driver
(
 name "mapfile"
 provides ["map:0"]
 filename "bitmaps/cave.png" #cave.png"
 resolution 0.03
 #negate 1
)

#
#driver
#(
#  name "Skyetek"
#  port "AUTOUSB" #"AUTO" "/dev/ttyUSB0"
#  provides ["rfid:0"]
#)

driver
(
 name "amcl"
 provides ["localize:0" "position2d:2"]
 requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
 init_pose [-6.5 -6.5 0.178]
 # Say that I want the particle filter to update whenever the robot moves
 # at least 0.1 meters and/or rotates by at least 5 degrees.
 update_thresh [0.1 0.1]
)
driver
(
 name "vfh"
 provides ["position2d:1"]
 requires ["position2d:0" "laser:0"]
 #safety_dist_0ms 0.1
  safety_dist  0.05
  distance_epsilon 0.3
  max_speed 2
  max_turnrate_0ms 70
 #max_turnrate_1ms 40
 #angle_epsilon 5
 #weight_current_dir 0.6
)

driver
(
 name "wavefront"
 provides ["planner:0"]
 requires ["output:::position2d:1" "input:::position2d:2" "map:0" "laser:1" "graphics2d:0"]
 safety_dist 0.01 # ! Attention planner use for planning robot_radius + saftey_dist !
 max_radius 0.3
 distance_epsilon 0.5
 robot_radius 0.1
 #add_rotational_waypoints 0
 #laser_maxrange 2.0
 #alwayson 1
)





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