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Re: [Playerstage-users] help with localizer
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From: Ricardo T. <tel...@gm...> - 2007-08-28 07:00:54
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Yes,we do care!.
Thanks for posting the solution you found.
Ricardo
2007/8/28, Deepak Ramachandran <dra...@ui...>:
>
> All right, I don't know if anyone cares, but I fixed this problem
> myself. Basically the AMCL particle filter by default updates the
> particles only if the action sensor senses an angular motion of pi/6
> or more, and this is way too much.
> You can change this setting by using the update_thresh parameter in
> the config file.
>
> ~Deepak
>
>
> *******************
>
> One fish
> two fish
> Red fish
> Blue fish.
>
> Black fish
> Blue fish
> Old fish
> New fish
>
> -- Dr Seuss
>
>
> On Aug 27, 2007, at 11:16 AM, Deepak Ramachandran wrote:
>
> > Hello Everybody,
> >
> > I posted a message while back asking for help with the
> > localizer. Here's a simpler source file that illustrates the same
> > problem. All I do is ask the planner to rotate by 180 degrees and
> > then query the localizer for the pose and query stage for the true
> > angle. I get numbers that differ by up to 40%. Could someone please
> > tell what I'm doing wrong?
> >
> > ~Deepak
> >
> > #include <stdio.h>
> > #include <libplayerc/playerc.h>
> >
> > playerc_client_t *client;
> > playerc_planner_t *planner;
> > playerc_localize_t *localizer;
> > playerc_position2d_t *position2d;
> >
> > int initialize()
> > {
> > // Create a client object and connect to the server; the server
> > must
> > // be running on "localhost" at port 6665
> > client = playerc_client_create(NULL, "localhost", 6665);
> > if (playerc_client_connect(client) != 0)
> > {
> > fprintf(stderr, "error: %s\n", playerc_error_str());
> > return -1;
> > }
> >
> > // Create a planner proxy (device id "planner:0") and susbscribe
> > // in read/write mode
> > planner= playerc_planner_create (client, 0);
> >
> > if (playerc_planner_subscribe(planner, PLAYERC_OPEN_MODE) != 0)
> > {
> > fprintf(stderr, "error: %s\n", playerc_error_str());
> > return -1;
> > }
> >
> > localizer= playerc_localize_create (client, 0);
> >
> > if (playerc_localize_subscribe(localizer, PLAYERC_OPEN_MODE) != 0)
> > {
> > fprintf(stderr, "error: %s\n", playerc_error_str());
> > return -1;
> > }
> >
> >
> > position2d = playerc_position2d_create(client, 0);
> > if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
> > return -1;
> >
> > return 0;
> > }
> >
> > int main()
> > {
> > FILE *posfile;
> > int started= 0;
> >
> > if (initialize() != 0)
> > return -1;
> >
> > playerc_planner_set_cmd_pose (planner, 0, 0, 3.14);
> >
> > while (1)
> > {
> > playerc_client_read (client);
> >
> > if ((planner->path_done) || (!started))
> > {
> > started= 1;
> >
> > while (1)
> > {
> > playerc_client_read(client);
> > // printf("in motion: %f\n", localizer->hypoths
> > [0].mean.pa);
> > if (planner->path_done)
> > {
> > printf("done: %f %f %f %f\n",
> localizer->hypoths[0].mean.px,
> > localizer->hypoths[0].mean.py, localizer->hypoths[0].mean.pa,
> > position2d->pa);
> > exit(0);
> > }
> > sleep(1);
> > }
> >
> > }
> > }
> > }
> >
> >
> >
> >
> >
> > ********
> > Starbuck to all Vipers.Do not fire! Repeat, do not fire!
> > I'm a friendly OK. We're all friendlies, So let's just, be--friendly!
> >
> > -- Battlestar Galactica
> >
> >
> > On Aug 27, 2007, at 8:05 AM, don...@gm... wrote:
> >
> >> Hi,
> >> Which player are you using?
> >> Thanks.
> >>
> >> dongqing
> >>
> >>
> >> Deepak Ramachandran wrote:
> >>>
> >>> Hi,
> >>>
> >>> I am an intern at the Honda Research Institute and I'm
> >>> trying to
> >>> use player on pioneer robot. The first thing I'm trying to do is to
> >>> get the localizer/planner that comes with player to work
> >>> in a simulated environment using stage. There seems to be errors in
> >>> the localizer that makes it unusable. I'm not sure if it's a
> >>> inherent
> >>> weakness in the algorithm or something I'm not doing right. Whenever
> >>> I give a command to the planner to move to a specific pose (say
> >>> (0,0,0) to (2,1, 0.75) , it typically moves to a position that
> >>> undershoots marginally (like (1.8, 0.8, 0.6). This is something I
> >>> can
> >>> deal with. But the real problem is that when I query the localizer,
> >>> the (x,y) part of the pose is pretty accurate, but the angle is
> >>> grossly wrong (like half to a whole radian). It doesnt seem like the
> >>> localizer has got lost, because the planner still manages to find
> >>> its
> >>> way and when I look at playernav, the robot icon seems to be
> >>> pointing
> >>> in the right direction.
> >>>
> >>> Is there something I'm doing wrong? I've put up some sample code I
> >>> wrote (along with all the files needed to get it to run) here:
> >>>
> >>> http://magma.cs.uiuc.edu/deepak/deepak-example.tar.gz
> >>>
> >>> It should move the robot to (2,1, 1.57) but when I query the pose
> >>> at the end I get something like (1.8,1, 1.57).
> >>>
> >>> ~Deepak
> >>>
> >>>
> >>>
> >>>
> >>> ************
> >>> "I believe in the third dimension, but not the other two"
> >>> -- Kibo
> >>>
> >>>
> >>>
> >>> --------------------------------------------------------------------
> >>> -
> >>> ----
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> >>> _______________________________________________
> >>> Playerstage-users mailing list
> >>> Pla...@li...
> >>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
> >>>
> >>>
> >> Quoted from:
> >> http://www.nabble.com/help-with-localizer-tf4251218.html#a12099530
> >>
> >
> >
> > ----------------------------------------------------------------------
> > ---
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> > _______________________________________________
> > Playerstage-users mailing list
> > Pla...@li...
> > https://lists.sourceforge.net/lists/listinfo/playerstage-users
>
>
> -------------------------------------------------------------------------
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> Still grepping through log files to find problems? Stop.
> Now Search log events and configuration files using AJAX and a browser.
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> _______________________________________________
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> Pla...@li...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>
--
__________________________
Ricardo A. Tellez
Research Engineer
Pal Robotics
phone: +34 93 414 53 47
email: tel...@gm...
web: http://www.pal-robotics.com
__________________________
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