Hello,
I am trying to use the fakelocalize driver to get the true position of a robot in Stage, but it gives me an error.
I am using the simple.cfg and simple.world files of the examples.
The Stage version is 3.2.2 and the Player version is 3.0.2.
The simple.cfg have been modified to add the fakelocalize driver as follows

driver
(  
  name "stage"
  provides [ "simulation:0" ]
  plugin "stageplugin"

  # load the named file into the simulator
  worldfile "simple.world" 
)

# Create a Stage driver and attach position2d and laser interfaces
# to the model "r0"
driver
(
  name "stage"
  provides [ "position2d:0" ]
  model "r0"
)

driver
(
  name "fakelocalize"
#  provides [ "localize:0" ]
  provides [ "localize:0" "position2d:1" ]
  requires [ "simulation:0" ]
  model "r0"
#  alwayson 1
)

And the world file was changed the pioneer model definition as
pioneer2dx
(   
  # can refer to the robot by this name
  name "r0"
  pose [ -7 -7 0 45 ]
  sicklaser()
  # report error-free position in world coordinates
  localization "odom"
  odom_error [ 0.03 0.03 0.0 0.05 ]     # Odometry error or slip in X, Y and Theta
)
to generate odometry with error.
With this scheme I want to compare the odometry with the true position of the robot.

The fakelocalize driver gives the error
error   : failed to get pose from simulation device

Can some help me with this? What could be wrong?
Thanks in advance.
Gonzalo


--
Gonzalo F. Perez Paina
Centro de Investigación en Informática para la Ingeniería, CIII.
Universidad Tecnológica Nacional. Facultad Regional Córdoba.
Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA
gperez@scdt.frc.utn.edu.ar