Re: [Playerstage-users] stage: 1. odometric information 2. using amcl driver with stage

[Yiannis G. <me...@le...>]

Richard vaughan wrote:
> 
> On 14-Feb-05, at 11:57 AM, Yiannis Gatsoulis wrote:
> 
>> hello,
>>
>> is there a way to simulate/get odometric information in stage (ie just 
>> get the pose). i ve done my homework but the position proxy which i 
>> thought it would return that gives me only zeroes positions... or do i 
>> need to write my own client??
> 
> 
> Did you try driving the robot around? The position  proxy should give 
> you the robot's current odometry estimate. This defaults to zero, which 
> may be what you saw. If you drive around and the odometry doesn't 
> change, it's a bug. Use the "view/position data" menu item to see 
> Stage's internal display of that data. The playerprint program uses the 
> C++ position proxy, and it works fine for me. If you want to set a 
> non-zero initial odeometric pose, use the "odom" property in the world 
> file. For example, the following entry sets the odometry to be the same 
> as the true pose, so that the robot's odometry will always return the 
> true pose (there is no error model right now).
> 
> position
> (
>   pose [ 2 3 0]
>   odom [ 2 3 0]
> )
> 
thanks for the help, yes i had tried driving the robot around but
because of my stupidity i had only 'w' access to the position proxy... i
assume that was the problem since it seems i am printing some values now
although i dont quite understand that since with 'w' permissions i was
able to "write" and to "read" on the proxy's variables (for example
speed and turnrate). but anyway i guess thats another story i can figure
out on my own by looking more thoroughly the source code. thanks for the
extra tip of error-free model as this was my next question :). i will
also need to do smth about that but i am not sure which one is the best
way to proceed... ideally there could be a "default" method in the 
position-odometry proxy which could be overwritten by a custom one... in 
any case it might also be simpler jsut to implement a noise function on 
the client code.

> 
>> a second question i have is if it is possible to use a driver which 
>> works with the real robot with stage (eg. amcl or sicklms200)? do i 
>> have to use a passthrough driver as described in man pages or is there 
>> an alternative way?
> 
> 
> I don't quite understand the question. Can you elaborate a bit?
> 

i think this will be a very basic question but here we go... is it 
possible to use sicklms200 driver with stage?
looking on the amcl example
http://playerstage.sourceforge.net/doc/Player-1.6.2-html/player/group__player__driver__amcl.html
although the documentation reflects stage 1.3.x is that the way for 
sicklms via a passthrough driver (although amcl is now supported by 
stage if i am right)? otherwise it might be just simpler to use the 
stage driver with the laser interface and just use sicklms when needed 
to work with the real device...


> Richard
> 
> -- 
> Richard Vaughan
> School of Computing Science / Simon Fraser University
> 
> 
> 
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thanks a lot

yiannis
On a junction of two paths which one is the middle one?