[Playerstage-users] fakelocalize not working

[snawaz <si...@ya...>]

Hello everyone,

I am trying to use the fakelocalize driver but so far haven't had any luck.
I am hoping someone can point me in the right direction. My aim is to have
global location/pose information available in my control program without
running one of the localization algorithms. I have taken simple.cfg and just
inserted a new driver section like this

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

and then use a simple C program to connect to player but all the pose
information that I get is 0 and fakelocalize complains about not being able
to get pose information from simulation environment. Here is the actual
output from player. You can see the "error   : failed to get pose from
simulation device" line.


sarn@clfh6709:~/Stage-3.0.1-Source/worlds$ player mysimple2.cfg
Registering driver
Player v.2.2.0

* Part of the Player/Stage/Gazebo Project
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public
License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

invoking player_driver_init()...
 Stage driver plugin init

 ** Stage plugin v3.0dev **
 * Part of the Player Project [http://playerstage.sourceforge.net]
 * Copyright 2000-2007 Richard Vaughan, Brian Gerkey and contributors.
 * Released under the GNU General Public License v2.
 **

success
 Stage plugin:  6665.simulation.0 is a Stage world
 [Loading ./simple.world][Include pioneer.inc][Include map.inc][Include
sick.inc][Load time 0.376sec]

 Stage plugin:  6665.position2d.0 is attempting to find a model under model
"r0" of type [4]
searching for type 4 in model r0 type 4
"r0"
 Stage plugin:  6665.laser.0 is attempting to find a model under model "r0"
of type [1]
searching for type 1 in model r0 type 4
searching for type 1 in model r0.ranger:0 type 3
searching for type 1 in model r0.laser:0 type 1
"r0.laser:0"
 Stage plugin:  6665.speech.0 is attempting to find a model under model "r0"
of type [0]
"r0"
listening on 6665
Listening on ports: 6665 
accepted TCP client 0 on port 6665, fd 13
stage driver setup
error   : failed to get pose from simulation device
unsubscribe from r0 0
Stage driver has been shutdown
closing TCP connection to client 0 on port 6665
error   : StopThread called when state != running or restarting (0)
sarn@clfh6709:~/Stage-3.0.1-Source/worlds$ 


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