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Re: [Playerstage-users] Wavefront unable to find path
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From: Brian G. <br...@ge...> - 2008-11-25 19:14:53
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On Nov 21, 2008, at 11:37 AM, Scott Price wrote: > Thanks for your reply, Brian. > > I am using Player 2.1.1. > > Since I had trouble getting GDK and GTK running on my robot platform > I wrote a map driver that combines vmapfile and mapfile. It > reads in vectors and "plots" them in an occupancy map that playerv > and playernav can understand. > > The two images enclosed show the map in playerv and playernav. The coloring looks okay. But the world might be a bit small, or the robot a bit big. It's hard to tell, because playernav (rather dumbly) draws the robot with a radius of 0.3m, regardless of the robot's true size. Try making your robot smaller (in the .world file). brian. > The vectors read are: > > origin 0 0 > width 60 > height 60 > 12 17 12 0 > 12 0 22 0 > 22 0 22 7 > 22 7 40 7 > 40 7 40 0 > 40 0 50 0 > 50 0 50 6 > 50 6 50 21 > 50 21 50 24 > 50 24 47 24 > 47 24 47 28 > 47 28 50 28 > 50 28 50 35 > # > 12 17 36 17 > 36 17 36 26 > 36 26 0 26 > 0 26 0 41 > 0 41 23 41 > 23 41 23 35 > 23 35 50 35 > > Resolution is 0.1 meters > > Scott Price > > -----Original Message----- > From: Brian Gerkey [mailto:br...@ge...] > Sent: Friday, November 21, 2008 1:38 PM > To: pla...@li... > Subject: Re: [Playerstage-users] Wavefront unable to find path > > The "never found start" message is saying that in expanding the > wavefront from the goal (executing Dijkstra's algorithm), the initial > pose is never found. > > What version of Player are you using? Can you post your map? > > brian. > > On Nov 17, 2008, at 10:18 AM, Scott Price wrote: > >> Hello all, >> I am trying to use playernav to navigate my robot and I am running >> into a problem with the wavefront driver. No matter what kind of >> target I try to give it, playernav says it has set a new goal but on >> the server side I always get the following output: >> >> never found start >> Wavefront: global plan failed >> Wavefront (port 6665) >> No path from (0.126,0.111,0.000) to (2.488,1.523,0.000) >> >> I can see my map with my robot on the playernav screen. I can drag >> my robot to a new spot on the map and my localize driver on the >> server side sets the new position. I have tried setting the safe >> parameters in the config file to unsafe values to let the drivers >> have all the space they need but it does not help. I have tried >> just placing the robot in a big empty room on the map and setting a >> goal 1 or 2 meters away in the same direction the robot is posed in >> but I always get the above output. >> >> Thanks for any help or advice you can give me. >> >> >> driver >> ( >> name "myrobot" >> provides ["bumper:0" "sonar:0" "position2d:0" "localize:0" "map:0"] >> filename "/usr/local/rover/house_vmap.wld" >> origin [-1.7 -0.5 1.57] >> resolution 0.1 >> ) >> >> driver >> ( >> name "vfh" >> requires ["position2d:0" "sonar:0"] >> provides ["position2d:1"] >> safety_dist_0ms 0.0 >> safety_dist_1ms 0.0 >> distance_epsilon 0.3 >> angle_epsilon 5 >> ) >> >> driver >> ( >> name "wavefront" >> provides ["planner:0"] >> requires ["output:::position2d:1" "input:::position2d:1" "map:0"] >> safety_dist 0.0 >> distance_epsilon 0.5 >> angle_epsilon 10 >> ) >> >> >> >> >> >> Scott Price >> sco...@co... >> >> >> ------------------------------------------------------------------------- >> This SF.Net email is sponsored by the Moblin Your Move Developer's >> challenge >> Build the coolest Linux based applications with Moblin SDK & win >> great prizes >> Grand prize is a trip for two to an Open Source event anywhere in >> the world >> http://moblin-contest.org/redirect.php?banner_id=100&url=/ >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's > challenge > Build the coolest Linux based applications with Moblin SDK & win > great prizes > Grand prize is a trip for two to an Open Source event anywhere in > the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > No virus found in this incoming message. > Checked by AVG - http://www.avg.com > Version: 8.0.175 / Virus Database: 270.9.8/1801 - Release Date: > 11/21/2008 9:37 AM > <stage-001-0000.jpg><playernav- > img > -0000 > .png > > > ------------------------------------------------------------------------- > This SF.Net email is sponsored by the Moblin Your Move Developer's > challenge > Build the coolest Linux based applications with Moblin SDK & win > great prizes > Grand prize is a trip for two to an Open Source event anywhere in > the world > http://moblin-contest.org/redirect.php?banner_id=100&url=/_______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users |