Re: [Playerstage-users] try to use hokuyo_aist and vfh drivers together but failed

[Rich M. <jp...@gm...>]

On 2/21/2011 9:28 PM, Fung Yang wrote:
>
> Hello! How’s everything?
>
> In our player configuration file,
>
> We try to use
>
> hokuyo_aist driver and
>
> vfh driver together:
>
> #--------------------------------
>
> #...
>
> driver
>
> (
>
> name "hokuyo_aist"
>
> provides ["ranger:0"]
>
> pose [0.17 0.0 0.0]
>
> min_angle -1.5707965 #PI/2
>
> max_angle 1.5707965 #PI/2
>
> )
>
> driver
>
> (
>
> name "vfh"
>
> provides ["position2d:1"]
>
> requires ["position2d:0" "ranger:0"]
>
> max_speed 0.3
>
> max_turnrate_0ms 90
>
> max_turnrate_1ms 35
>
> )
>
> #...
>
> #----------------------------------
>
> But when we run player with this configuration file,
>
> error messages occurs:
>
> error : vfh needs exactly one sonar or one laser
>
> error : Initialization failed for driver "vfh"
>
> error : failed to parse config file /etc/player/player2010.cfg driver 
> blocks
>
> Player version used:
>
> http://ppa.launchpad.net/thjc/ppa/ubuntu/pool/main/p/player/player_3.0.2.orig.tar.gz
>
> operating system: ubuntu 10.10
>
> How to make it work?
>
> Your advise is very much appreciated.
>
> Many thanks,
>
> Fung Yang
>
>
>
VFH needs a driver that provides the "laser" interface. The hokuyo_aist 
driver only provides the "ranger" interface, you can use the 
rangertolaser[1] driver to convert the hokuyo_aist measurements to the 
laser interface.

Rich


[1] 
http://playerstage.sourceforge.net/doc/Player-svn/player/group__driver__rangertolaser.html