Re: [Playerstage-users] Truth or GPS?

[Richard V. <va...@hr...>]

Hi Alex,

The truth device [worldfile: 'truth()'] is the 'official 'ground truth 
device as of 1.2. It works exactly like the old GPS device - you can 
get and set the true position of any device that has a a truth() 
child. The GPS device has been modified to be more like real GPS. Any old 
references to truth device are from an experimental device that was never 
meant for end-user use - unfortunate name-space collision.

Right now the libplayerc library is the only one to have a specific
truth() proxy. It needs to be added to the C++ lib - we should change the
truthproxy[cc.h] files to work with the new truth device. The libraries
get out of sync sometimes because whoever writes a new device often only
has time/inclination to add support in one client library. That one can
usually be used as a model for the other language libs. Remember that the
client_libs/c library supports all devices in a generic sort of way.

I'll add C++ support and post a patch today.

Richard.



On Sat, 22 Jun 2002, Alex Makarenko wrote:

> Dear developers,
> 
> So what's the official 'true position' device in Stage v1.2 and how do I
> use it?
> 
> The release notes say 
> "There is now a "truth" device, which allows clients to get and set the
> poses of simulated entities (as an aside, this device subsumes the
> "warp" capability of the GPS device, which has been deprecated)."
> 
> Is this the "truth server" or the "truth device" or something new?
> 
> two more clues on this:
> 
> A. if I just type "gps()" inside the world file and try to connect to it
> with a GpsDevice, I get access code 'e'. The same code used to work in
> v1.1 for a device generated by "create gps_device". (all other devices
> seem to work after the upgrade)
> 
> B. if I type "truth()", the way it's done in the everything.world
> example, then which device do I use to access it? truthdevice.h is not
> included in playerclient.h with a comment "BROKEN", which makes me think
> this is not it. Or is it commented out because you don't need it unless
> you are using Stage?
> 
> Thanks for all the work,
> Cheers,
> Alex
> 
> 
> ----------------------------------------------------
> Alex Makarenko
> Australian Centre for Field Robotics
> Dept. of Mechanical & Mechatronic Engineering  J04
> The University of Sydney  2006  NSW, AUSTRALIA
> 
> a.m...@ac...
> www.acfr.usyd.edu.au
> +61 (0)2 9351 7154 (tel)
> +61 (0)2 9351 7474 (fax)
> 
> 
> 
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-- 
Richard Vaughan
HRL Laboratories [va...@hr...]