Re: [Playerstage-users] vfh driver with ranger interface on a Pioneer P3DX

[Chandan D. <wor...@gm...>]

Thanks Rich.

Hi Sebastian,
Tried your hokuyo-aist patch and added the error_dist parameter. I'm using
Player 3.0.2 where the code is slightly different in hokuyo_aist.cc. The
robot still can't get to the goal using the laser(spins in position or is
lost). I tried the following config option:

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
  min_dist .02
  error_dist 5.6

)

driver
(
   name "vfh"
   provides ["position2d:1"]
   requires ["position2d:0" "laser:0"]
   safety_dist_0ms "0.25"
   max_speed "0.15"
   distance_epsilon "0.0625"
   angle_epsilon "360"
)

I displayed the values of the VFH algorithm and I think its not able to
build the masked polar histogram correctly. Most of the times the robot is
in the VFH_Algorithm::Cant_Turn_To_Goal() , for example:

In VFH_Algorithm::Cant_Turn_To_Goal(): Dist_To_Goal = 375.287903
In VFH_Algorithm::Cant_Turn_To_Goal(): Angle_To_Goal = 152.072144
In VFH_Algorithm::Cant_Turn_To_Goal(): Blocked_Circle_Radius = 505.500000
In VFH_Algorithm::Cant_Turn_To_Goal():Goal close & left.
speed=-12;turnrate=40, so just spin in place..


vfh uses the VFH_Class::ProcessLaser to update the laser range data, and
laser_count is set to 361, which I think is for the SICK laser. Should it be
different for the URG laser?


On Sun, Mar 20, 2011 at 6:34 PM, Chandan Datta <wor...@gm...>wrote:

> 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
>
>


-- 
Regards,
Chandan