Re: [Playerstage-users] Problem odom_error

[R. M. <ren...@ho...>]

Thanks for the answers;

Rich Mattes, you was right about the odom_error, It has a "z" coordinate.
Thanks ;-)

Richard Vaughan, I've already read the Jenny tutorial and I know how set a
positon driver, and I now too that this part of the code isnt good. But in
my case I want to recovery the odometry and the gps position (of the same
pionner) at the same time; not one or other, but both. Unfortunately this
information is not inside the tutorials that I've read, and I would really
appreciate suggestions on how to recover both informations (odometry and
gps).

Renato.


Richard Vaughan-2 wrote:
> 
> Hi,
> 
> You have the ideas of drivers, interfaces and models mixed up. Take a
> look at Jenny Owen's very good tutorial which describes these
> concepts. Find it on the P/S documentation page at SourceForge.
> 
> Tips:
> 
> This bit is wrong:
> 
> # add a ground truth interface
> position
> (
> name "truth"
> localization "gps"
> )
> 
> 
> What you should do instead is put the pioneer2dx model (which is a
> position model) into gps localization mode:
> 
> pioneer2dx
> (
>     localization_mode "gps"
>     <etc>
> )
> 
> Hope that clue helps, but please, please, READ THE JENNY MANUAL CAREFULLY!
> 
> Richard/
> 
> On Fri, Dec 17, 2010 at 5:40 AM, R. Martins <ren...@ho...>
> wrote:
>>
>> Hi,
>>
>> I'm having some problems using the part of getting odometry data. I've
>> tried
>> many ways to include angles errors, but it's just put errors on the
>> position
>> x,y and never in theta. I'm using, for example, this definiton,
>>
>> odom_error [0.03 0.03 0.05]
>>
>> Another question is that i want too take the true position gps at the
>> same
>> time of pos odom. But, aways when i defined a driver "position" inside my
>> piooner model, there is an error (the robot remains at the origin).
>>
>> Can anyone help me? I've tried many things but all they didnt work...
>> Thanks in advance.
>>
>> The code I'm using:
>>
>> # simple.world - basic world file example
>> # Authors: Richard Vaughan
>> # $Id$
>>
>> include "pioneer.inc"
>> include "map.inc"
>> include "sick.inc"
>>
>>
>> # time to pause (in GUI mode) or quit (in headless mode (-g)) the
>> simulation
>> #quit_time 100 # 1 hour of simulated time
>>
>> quit_time 3600
>> speedup 1
>> resolution 0.02
>>
>> # configure the GUI window
>> window
>> (
>>  size [ 635.000 666.000 ] # in pixels
>>  scale 37.481   # pixels per meter
>>  center [ -0.019  -0.282 ]
>>  rotate [ 0  0 ]
>>
>>  show_data 1              # 1=on 0=off
>> )
>>
>> # load an environment bitmap
>> floorplan
>> (
>>  name "cave"
>>  size [16.000 16.000 0.800]
>>  pose [0 0 0 0]
>>  bitmap "bitmaps/cave.png"
>> )
>>
>>
>> pioneer2dx
>> (
>>  # can refer to the robot by this name
>>  name "r0"
>>   pose [ -7 -7 0 45 ]
>>  # pose [ -2.5 -7 0 90 ]
>>  # pose [ 3 -7 0 90 ]
>>  sicklaser(
>>     # ctrl "lasernoise"  # uncomment this line to run a laser noise
>> generator
>>  )
>>
>>  ctrl "wander"
>>
>>
>> drive "car"
>>
>> localization "odom"
>> # odom_error [0.1 0.05 0.7 0.02 4 1]
>> # odom_error [0.93 0.03 0.55]
>> localization_origin [ 0 0 0 0 ]
>>  #odom_error [0.93 0.03 0.55]
>> odom_error [0.03 0.03 0.05]
>>  # report error-free position in world coordinates
>>  # odom_error [0.5 0.7 30]
>>
>> # add a ground truth interface
>> position
>> (
>> name "truth"
>> localization "gps"
>> )
>>
>> )
>>
>>
>> -- Next the add driver to get gps position in the .cfg file.
>>
>> driver
>> (
>> name "stage"
>> provides ["position2d:1"]
>> model "truth"
>> )
>>
>>
>> --
>> View this message in context:
>> http://old.nabble.com/Problem-odom_error-tp30480953p30480953.html
>> Sent from the playerstage-users mailing list archive at Nabble.com.
>>
>>
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> 
> ------------------------------------------------------------------------------
> Lotusphere 2011
> Register now for Lotusphere 2011 and learn how
> to connect the dots, take your collaborative environment
> to the next level, and enter the era of Social Business.
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> 

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