[Playerstage-users] wavefront+playernav in P/S 1.6.2

[Jaime V. M. <jai...@en...>]

Hi,
I'm trying to get the planning and navigation built in p/s 1.6.2 to work. I had it more or less
set-up in P 1.5, S 1.3.4 thanks to various postings, but now with 1.6.X is all pretty different and
I am running into trouble getting to grips with it, particularly the use of playernav.
What I'd like is use wavefront to plan a path, amcl localiser and the vfh obst. avoid. between
waypoints, i.e., pretty much what I believe is there already.

My wavefront.cfg, adapted for stage use:

# load the Stage plugin simulation driver
driver
(
  name "stage"
  provides ["simulation:0"]
  plugin "libstage"

  # load the named file into the simulator
  worldfile "simple.world"
)


driver
(
  name "stage"
  provides ["odometry::position:1"]
  model "pioneer2DX"
#  port "/dev/ttyS0"

)
driver
(
  name "stage"
  provides ["laser:0"]
  model "pioneer2DX"
#  port "/dev/ttyS1"
)
driver
(
  name "mapfile"
  provides ["map:0"]
  filename "cave.png"
  resolution 0.1
)
driver
(
  name "amcl"
  provides ["localize:0"]
  requires ["odometry::position:1" "laser:0" "laser::map:0"]
)
driver
(
  name "vfh"
  provides ["position:0"]
  requires ["position:1" "laser:0"]
  safety_dist 0.1
  distance_epsilon 0.3
  angle_epsilon 5
)
driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["position:0" "localize:0" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)

run player wavefront.cfg and starts ok.
if I then run playernav localhost:6665, it works and creates/reads c-space map, but the map is in
black background, which makes viewing hard.
Q.1) Can I change that easily, like I believe "color" parameter in the map.inc does for the map to
appear white in stage?
Q.2) Before anything starts, I believe first hypo. puts the robot in 0,0,0 (actually more like
-1,0,0)  which falls inside an obstacle. Trying to map a plan crashes or can't find one. Can I
default it to somewhere else?
I drag&drop (left mouse) the robot to +/- initial pose set in simple.world, outside the obstacle. I
suppose the application has been designed with that in mind. What I'd like to do now is to use
wavefront, vfh,amcl to plan path. But doing that with right mouse can never find a path, even
simplest, always comes up with "No path!". So can't test that.
Q.3) Am I doing anything wrong?
As an alternative, I try to drive the robot via playerv, and see the localiser at work. To do that,
I get position:1(stage) and command the robot (speed) to move around. Subscribe to amcl, and see
possible locations and uncertainty (I guess that's what I am seeing, as they appear as the
traditional elipsoids). But I can't quite get my head around it, it is not making that much sense.
Q.4) Is what I just described correct?
Q.5) If I change pose hypo's in playernav, I am supposed to see those affecting the amcd hypos I see
in playerv?
I may be doing something fundamentally wrong which I am not aware of. Any advice welcome. Don't be
shy ;-)
Ta
Jaime



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