[Playerstage-users] Add/removing or moving fiducial sensors during a run

[Levent B. <lev...@gm...>]

Hello,

In my simulator, when robots move to the end of a circular
boundry-less environment, they reappear on the other end. It is like
having robots moving on a spherical arena (like our world). In this
way, i eliminate effects of the environment boundaries.
In my simulator, i am using fiducial sensor on each robot to sense
other robots up to a distance. But i also need them to sense robots on
the other end. I mean if two robots are at the opposite sides of the
environment but close to the environment boundaries, they should sense
each other. How can i do this with Fiducial sensor? If i can
add/remove/move fiducial sensors dynamically, i can implement this by
adding temporary fidcuial sensors on the opposite side for the robots
close to the environment boundaries. Is it possible to add/remove/move
fiducial sensors dynamically during a run?

Please note that i need to do that in an efficient way. Simulation
time is important for me because i am working with a swarm of robots.
So i can not write loops to iterate over all robot positions myself. I
need to use existing stage sensors to implement it efficiently.

Thanks.