Re: [Playerstage-users] Fiducial Problem in Stage

[Austin S. <sta...@cs...>]

Thanks a bunch for your help. I went ahead and modified my world file to 
have other robots in the map to return fiducial rather than having puck 
models. When I run the simulation, the dashed line between my robot and 
all of the other robots returning fiducial appears, but running the 
GetCount() function on the fiducial proxy still returns 0. Any ideas?

Thanks,

-Austin


Zuena, John wrote:
> Austin,
>
> Here is a world file I successfully used with Player 2.1.3/Stage 2.1.1 
> (we don’t have any real Sick lasers right now, so it is all working on 
> a stage). It is slightly different in that the fiducials are attached 
> to the Pioneer robots who use them to recognize each other.
>
> # defines Pioneer-like robots
> include "pioneer.inc"
>
> include "roomba.inc"
>
> # defines 'map' object used for floorplans
> include "map.inc"
>
> # defines sick laser scanner
> include "sick.inc"
>
> # size of the world
> size [16 16]
>
> # set the resolution of the underlying raytrace model
> resolution 0.02
>
> interval_sim 100
> interval_real 100
>
> # configure the GUI window
> window
> (
> size [ 695.000 693.000 ]
> center [-0.010 -0.040]
> scale 0.028
> )
>
> # load an environment bitmap
> map
> (
> bitmap "demo1.png"
> size [16 16]
> name "cave"
> )
>
> # create robots
> pioneer2dx
> (
> name "robot1"
> color "red"
> pose [-5 -7 0]
> fiducial_return 1
> sick_laser
> (
> fiducialfinder( range_max 8 range_max_id 5 )
> )
> watchdog_timeout -1.0
> )
>
> pioneer2dx
> (
> name "robot2"
> color "green"
> pose [-6 -7 0]
> fiducial_return 2
> sick_laser
> (
> fiducialfinder( range_max 8 range_max_id 5 )
> )
> watchdog_timeout -1.0
> )
>
> pioneer2dx
> (
> name "robot3"
> color "green"
> pose [-7 -7 0]
> fiducial_return 3
> sick_laser
> (
> fiducialfinder( range_max 8 range_max_id 5 )
> )
> watchdog_timeout -1.0
> )
>
> roomba
> (
> name "robot4"
> color "grey"
> pose [7 7 225]
> )
>
> - John Z.
>
> On 9/27/09 5:09 PM, "stanhope@cse.unredu <sta...@cs...>" 
> <sta...@cs...> wrote:
>
>     Hey all,
>
>     I'm having problems using the Fiducial in Stage. I placed 2 models in
>     the stage environment and set their fiducial_return values to a
>     number
>     greater than 0. When I run the GetCount() function on my fiducial
>     proxy object I get a value of 0, even though I move the robot
>     fight in
>     front of the simulated objects. I've seen posts on this list talking
>     about example fiducial code but I haven't been able to find any. Here
>     is the posting of my world file.
>
>     -----------------------------
>
>     # simple.world - basic world file example
>     # Authors: Richard Vaughan
>     # $Id$
>
>     include "pioneer.inc" # defines Pioneer-like robots
>     include "map.inc" # defines 'floorplan' object used for obstacle maps
>     include "sick.inc" # defines sick laser
>
>     interval_sim 100 # simulation timestep in milliseconds
>     interval_real 1 # real-time interval between simulation updates in
>     milliseconds
>
>     paused 0
>
>     # configure the GUI window
>     window
>     (
>     size [ 700.000 700.000 ] # in pixels
>     scale 37 # pixels per meter
>     show_data 1 # 1=on 0=off
>     )
>
>     # load an environment bitmap
>     floorplan
>     (
>     name "cave"
>     size [16 16 0.6]
>     bitmap "bitmaps/squares.png"
>     )
>
>     define puck model
>     (
>     size [0.3 0.3 0.3]
>     )
>
>     puck
>     (
>     pose [5 0 5]
>     color "red"
>     fiducial_return 10
>     blobfinder_return 1
>     )
>     puck
>     (
>     pose [4 0 4]
>     color "blue"
>     fiducial_return 11
>     blobfinder_return 2
>     )
>
>     pioneer2dx
>     (
>     # can refer to the robot by this name
>     name "r0"
>
>     pose [ -6.5 -6.5 0 45 ]
>     sicklaser()
>
>     blobfinder
>     (
>     channel_count 4
>     channels ["red" "blue" "green" "yellow"]
>     alwayson 1
>     blob_return 1
>     )
>     fiducial
>     (
>     range_max 8
>     range_max_id 5
>     )
>     )
>
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