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

[Alex R. M. <ale...@mo...>]

Jaime Valls Miro wrote:
> 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.

> (...) 

> 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?

Use

negate 1

in the mapfile driver. There's an example in the documentation.

> 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?

See the "init_pose" property of the amcl driver.

> 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.

I've experienced "no path" problems when the robot is somewhat close to 
a wall. Try placing the robot in a very open area for a start.

In respect to this, playernav shows the robot as colliding with the 
wall, but I'm sure (through logs) that the amcl driver is correctly 
localizing the robot. It seems as if everything where a bit missplaced 
down. I must look more closely into this. See the snapshots attached of 
the robots poses and how they're seen in playernav. Every robot but the 
red one can plan from there.