From: Chandan D. <wor...@gm...> - 2011-03-20 05:34:33
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Thanks Sebastian, The sonar driver works with vfh. What happens if I try the rangertolaser in open space with no close obstacles? The robot still spins in place. The rangertolaser driver doesn't have any config option to limit the min range( http://playerstage.sourceforge.net/doc/Player-cvs/player/group__driver__rangertolaser.html). Do I have to do it in code? The rangertolaser.cc file doesn't have a option for min range : // Need to copy across the latest configuration information scanData.scan.min_angle = config.min_angle; scanData.scan.max_angle = config.max_angle; scanData.scan.resolution = config.resolution; scanData.scan.max_range = config.max_range; scanData.scan.id = 0; On Fri, Mar 18, 2011 at 7:08 PM, Chandan Datta <wor...@gm...>wrote: > Hi, > Has anyone tried using the vfh driver with hokuyo_aist ranger interface > from gearbox? I tried it on a Pioneer P3DX and gave position commands from > playerv. The robot keeps spinning in position whereas without modifying > the code on the server, it works with stage with the laser interface > > > Here's the config file > > driver > ( > name "p2os" > provides ["odometry:::position2d:0" > "gyro:::position2d:2" > "sonar:0" > "power:0" > "bumper:0" > "arm:::actarray:0" > "limb:0" > "armgrip:::gripper:0"] > port "/dev/ttyS0" > limb_pos [0.105 0 0.3185] > ) > > > 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 "rangertolaser" > requires ["ranger:0"] # read from ranger:0 > provides ["laser:0"] # output results on laser:0 > ) > > > driver > ( > name "camerauvc" > provides ["camera:0"] > size [640 480] > ) > > driver > ( > name "camerauncompress" > provides ["camera:1"] > requires ["camera:0"] # Uncompress data from device camera:1 > ) > > > driver > ( > name "vfh" > provides ["position2d:1"] > requires ["position2d:0" "laser:0"] > distance_epsilon "0.0625" > angle_epsilon "360" > ) > > > > > -- > Regards, > Chandan > > -- Regards, Chandan |