hi
I am sandi and i am doing service robot for my project. I have to do the robot to move from point to point using wavefront but it does not working. below are my cfg, world and program file. could you please see my file and just tell me where do i need to change. thank
with regard
sandi
#####cfg file######
driver
(
 name "stage"
 plugin "libstageplugin"
 provides ["6665:simulation:0"]
 worldfile "Aricc.world"
)

driver
(
 name "mapfile"
 provides ["6665:map:0"]
 filename "AriccMapnone1.png"
 resolution 0.05
 #origin [2 -2 0]
)

driver
(
 name "stage"
 provides ["6665:position2d:0" "6665:laser:0"]
 model "robot1"
)

driver
(
 name "vfh"
 provides ["6665:position2d:1"]
 requires ["6665:position2d:0" "6665:laser:0"]
 distance_epsilon 0.3
 angle_epsilon 5
)

#driver
#(
#  name "nd"
#  provides ["6665:position2d:1"]
#  requires ["output::6665:position2d:0" "input::6665:position2d:0" "6665:laser:0"]
#)

driver
(
 name "amcl"
 provides ["6665:localize:0" "6665:position2d:2"]
 requires ["odometry::6665:position2d:0" "6665:laser:0" "laser::6665:map:0"]
 init_pose [-6 -2.5 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 0.3
 angle_epsilon 5
 alwayson 0
)
######world file#######
# defines Pioneer-like robots
include "pioneer.inc"


# defines 'map' object used for floorplans
include "map.inc"


# defines sick laser scanner
include "sick.inc"


# size of the world in meters
size [15 9]

# set the resolution of the underlying raytrace model in meters
resolution 0.05

interval_sim 100
interval_real 100

# configure the GUI window
window
(
 size [ 298.000 183.000 ]
 center [0 0]
 scale 0.05
)

# load an environment bitmap
map
(
 bitmap "AriccMapnone1.png"
 size [15 9]
 name "cave"
)


# create a robot
pioneer2dx
(
 name "robot1"
 color "red"
 pose [-6 -2.5 0]
 sick_laser()
 watchdog_timeout -1.0
)
######program file######
#include <iostream>
#include <libplayerc++/playerc++.h>
#include <cmath>

using namespace PlayerCc;
using namespace std;

double pose[3] = {-6,-2.5,0};
double cov[9] = {0.0,0.0,0.0,
                    0.0,0.0,0.0,
                    0.0,0.0,0.0};
 /*double cov[3][3] = {{0.0,0.0,0.0},
                    {0.0,0.0,0.0},
                    {0.0,0.0,0.0}};*/

int main(int argc, char *argv[])
{
 PlayerClient  robot("localhost",6665);
 LaserProxy lp(&robot,0);
 //SonarProxy  sp(&robot,0);
 Position2dProxy pp(&robot,1);
 LocalizeProxy locp(&robot,0);
 PlannerProxy plp(&robot,0);


 //robot.Read();


 //locp.Print();
 locp.SetPose(pose,cov);   //this returns -1  currently (I get 'e' acess on the player server)
 pp.SetOdometry(pose[0], pose[1], pose[2] * 0.01745);
 plp.SetGoalPose(1,-2.5,0);

       // After check path Robot will choose the path which is most suitable.


       for(;;)
       {

               robot.Read();

               // Number of hypotheses
               cout << "[Localize] Number of hypotheses: " << locp.GetHypothCount() << endl;
               cout << "Ground truth is " << pp.GetXPos () << "," << pp.GetYPos () << "," << pp.GetYaw ()<< endl;
               cout << "[Position] Current location is :" << plp.GetPx() << "," << plp.GetPy() <<"," <<plp.GetPa() << endl;

               // Display all the waypoints in the plan :D
               cout<< "[Planner] : Number of waypoints to follow : " << plp.GetWaypointCount () << endl;
               if (plp.GetWaypointCount () > 0 )
                       plp.RequestWaypoints();
               for (int i =0; i < plp.GetWaypointCount () ; i++)
               {
                       cout << "\t[" << plp.GetWaypoint(i).px << "," << plp.GetWaypoint(i).py << "," << plp.GetWaypoint(i).pa << "]" << endl;
               }

               cout << "[Planner] : Next waypoint location will be : [" << plp.GetWx () << "," << plp.GetWy() << "," << plp.GetWa () << "]" << endl;
               cout << "[Planner] : Goal is [ " << plp.GetGx() << "," << plp.GetGy() << "," << plp.GetGa() << "]" << endl;



               if (plp.GetPathDone())
               {
                 std::cout << "Position Reached!\n";
                 break;
               }
       }
}