Re: [Playerstage-users] SetOdometry problems

[Ezequiel Q. <equ...@in...>]

Hi Rich!
Thank you for answering!

Yes, I'm using the C++ client libraries.

I do call Read() after using the SetOdometry and before showing the 
"new" values of the x,y and yaw.

I have also tried a loop to check what the SetOdometry is working:

  while ( (pp->GetYPos() != x) || (pp->GetYPos() != y) || (pp->GetYaw() 
!= yw) ){
    printf("Setting: x=%f, y=%f, yw=%f \n", pp->GetXPos(), 
pp->GetYPos(), pp->GetYaw());
    pp->SetOdometry(x, y, yw);
    robot->Read();
  }

But it does not work. The pose values are not correct.

I also tried reseting the odometry (before setting) with ResetOdometry 
but still doesn't work, and the SetOdomentry command sometimes fails 
too.

I'm using the PULL mode but I have tried the PUSH mode too.

Any ideas of what can be wrong?




Ezequiel Quintero <equ...@in...> dijo:

> Hello playerstage list!
>
> [Working with a Pioneer P3DX, using Player 3.0.1 with C++, on Ubuntu 9.04]
>
> I'm having the same problems with the SetOdometry command. I read the 
> related emails "Position2d driver - ResetOdometry" 
> (http://sourceforge.net/mailarchive/message.php?msg_id=4BD76972.3000802%40mdgit.com) and "SetOdometry problems" (http://sourceforge.net/mailarchive/message.php?msg_id=d6c538de0911231219s71a532b6o64927079420b2fd4%40mail.gmail.com), but I found no solution for the 
> problem.
>
> After setting a pose using SetOdometry(), when retrieving the robot 
> pose using GetXPos(),GetYPos() and GetYaw() I'm not getting the 
> correct values. In other words, the SetOdometry command seems to have 
> no effect over x,y and yaw.
>
> Does anybody know what the causes are for SetOdometry() not working? 
> Any solution?
>
> Ezequiel
>



-- 
Máster en Ciencia y Tecnología Informática
Grupo PLG (2.1.B16)
Universidad Carlos III de Madrid