Re: [Playerstage-users] A few questions about Player 3.2.2 and Player 3.0.0

[Richard V. <rtv...@gm...>]

On Tue, Nov 17, 2009 at 8:33 AM, Fred Labrosse <ff...@ab...> wrote:

>> As far as multiple lasers on one robot in stage, I've never been
> successful
>> in this either.  It wasn't so important to what I was doing so I kind of
>> gave up on it.
>
> Shame!

Shame indeed. That sounds like a bug. I'll look into it ASAP,
hopefully this week.

Patches for adding ranger interface support to libstageplugin are most welcome.

Richard/


> Cheers,
>
> Fred
>
>>
>>
>> -----Original Message-----
>> From: Fred Labrosse [mailto:ff...@ab...]
>> Sent: Tuesday, November 17, 2009 10:34 AM
>> To: pla...@li...
>> Subject: Re: [Playerstage-users] A few questions about Player 3.2.2 and
>> Player 3.0.0
>>
>> On Monday 16 November 2009 22:18:07 Geoff Biggs wrote:
>> > Fred Labrosse wrote:
>> > > - It seems that despite the laser interface being deprecated in
> player,
>> > > laser is still very much available in stage and is the only way to get
>> > > a laser scanner (ranger is for sonar and IR only).  Is that correct?
>> >
>> > Yes. That's because it's deprecated: it will be removed in the future,
>> > but it's not gone yet.
>>
>> Well, not wanting to criticise, but it's worse than that.  It doesn't work
>> with Stage so a client that uses the new RangerProxy (in c++) is not
>> compatible with Stage.
>>
>> > > - In player, the laser proxy used to have a GetPoint() function that
>> > > was returning an x,y position of the end of a given laser beam.  This
>> > > seems to have disappeared from the ranger proxy (a real shame).  I
>> > > guess the solution is to use a combination of GetElementPose(),
>> > > GetDevicePose(), etc.  However, without delving in piles of code, I
>> > > don't know what these return.  For
>> >
>> > The ranger proxy does contain this information. It is available in the
>> > playerc_ranger_t structure as the points member. Maybe the C++ client
>> > isn't exposing it yet. That would be easy to fix.
>>
>> OK.  It doesn't seem to (at least not according to the doxygen
>> documentation).  I'll delve into the code.  However, because of the non
>> stage compatibility, using the ranger proxy seems to be a bit premature.
>>
>> > > example, what does the pose3d structure (?) contain?  Is that an x,y,z
>>
>> or
>>
>> > > an x,y,theta?
>> >
>> > As the name suggests, the pose3d structure contains a 3D pose:
>> > (x,y,z,roll,pitch,yaw).
>>
>> OK.  I understood 3d as meaning 3 parameters.  Good.
>>
>> What about having 2 sick lasers in stage.  Is that possible?  Adding a
>> second one in the pioneer of simple.cfg doesn't seem to do anything (ie
>> there is no laser:1 available).  This used to work in stage 2.
>>
>> Cheers,
>>
>> Fred
>>
>>
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-- 
Richard Vaughan
Autonomy Lab / Computing Science / Simon Fraser University