From: Sebastian R. <seb...@go...> - 2010-05-27 09:49:09
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Hello Malika, As I had similar problems earlier and could them get solved with the help of this list I forward it to you: > Von: Sebastian Rockel <seb...@go...> > Datum: 16. November 2009 19:57:21 MEZ > An: pla...@li... > Betreff: Re: [Playerstage-users] Wavefront driver not working? > > Thanks to you Michael and Paul, > > I got wavefront (+ amcl + vfh) working with Stage as Paul suggested:) > (Basically I did one player instance for Stage plugin and one for the rest) > > Cheers, > Sebastian > > Am 16.11.2009 um 15:56 schrieb Paul Osmialowski: >> >> I never run wavefront and Stage in the same Player instance, the Stage >> instance is started first, then wavefront with 'alwayson 1' is started in >> other Player process (waiting on other TCP port). Also, for multirobot >> environments I never run more than one wavefront driver in one Player >> instance. Instead, I'm preparing some bash script that starts several >> Player instances waiting on different TCP ports, each running one >> wavefront driver. I did basically have in my stage cfg file only: # load the Stage plugin simulation driver driver ( name "stage" provides ["simulation:0"] plugin "stageplugin" # load the named file into the simulator worldfile "pnav_stage.world" ) driver ( name "stage" provides ["odometry:::position2d:0" "laser:0"] model "r0" ) All other drivers run in a separate player instance on a different port, e.g. 6666 (note the default port is 6665 in the stage cfg file). A bash script finally makes my life easier to start all instances appropriate. Hope that helps, Sebastian |