Re: [Playerstage-users] Problems with writelog and position geometry

[Aslund <seb...@gm...>]

Hey

I have tried to look into the code an apparently writelog is unable to get
any geometry information, but when I look at the Roboteq driver, then it
updates the geometry if it register encoders, which it does. So if the
roboteq driver publishes position2D information, then why cant writelog not
read them?

Sebastian


On 20 September 2010 10:22, Aslund <seb...@gm...> wrote:

> Hey everyone
>
> I am working on implementing some path planning and for that I need a map.
> I have read about how to use writelog and pmaptest to create a grid map, but
> sadly I am unable to produce any data in my logs. I hope someone can see
> where I go wrong.
> When I run player on my robot, then I get the following message:
> -------
> Adding position2d interface.
> Configuring Roboteq serial port at /dev/ttyS0
> Computed maximum forward velocity of 0.870628 m/s.
> Computed maximum rotational velocity of 3.414229 rad/s.
> listening on 6665
> Listening on ports: 6665
> AX2500 found.
> Encoder present.
> Short circuit detection capable.
> warning : unable to get position geometry
> ------
>
> When I try to get the log while I move around with PlayerView, then
> pmaptest gives the following output with the generated logfile;
> ------
> aslund@SDURobot:~$ pmaptest --grid_scale 0.05
> mydata2010_09_17_13_24_16.log
> range_count = 489
> range_max = 5.600000
> angle_min = -1.500000
> angle_max = 1.500000
> angle_step = 0.006136
> allocating 8192 bytes for scans
> allocating 607 Mb of map space (estimated lower bound)
> 0.000 m 0.000 rotations 0 scans 0 steps in 0 seconds
> -nan msec/scan -nan msec/step
> ------
>
> My .cfg file is this:
> ------
> driver
> (
>   name "hokuyo_aist"
>   provides ["ranger:0"]
>   portopts "type=serial,device=/dev/ttyACM0,timeout=1"
>   min_angle "-1.5"
>   max_angle "1.5"
> )
>
> driver
> (
>   name "rangertolaser"
>   requires ["ranger:0"] # read from ranger:0
>   provides ["laser:0"] # output results on laser:0
> )
>
> driver
> (
>   name "roboteq"
>   provides ["position2d:0" "power:0"]
>   devicepath "/dev/ttyS0"
>   motor_control_mode "197"
>   invert_directions "true"
>   encoder_ppr "1024"
>   wheel_circumference "1.28"
>   axle_length "0.255"
>   gear_ratio "7.742"
> )
> driver
> (
>   name "writelog"
>   log_directory "/home/aslund"
>   basename "mydata"
>   requires ["laser:0" "position2d:0"]
>   provides ["log:0"]
>   alwayson 1
>   autorecord 1
> )
> ------
>
> Thanks for your help.
>
> Sebastian Aslund
>