From: Cameron M. <Cameron@Morland.ca> - 2004-05-27 17:28:17
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Hi, I would like to be able to make marks on the simulated environment. These marks would be visible in Stage, but also could be created, examined, and modified by robots. One might think of them as blobs of (dry) paint on the floor; you can see them from distance, you can look down and notice that you're walking on one, but they don't act as obstacles. If paint objects could be simple shapes or text, it would be very useful. I wanted to verify that there isn't anything of the sort already written before I start hacking it. Suggestions of how to proceed would also be good. Making these be children of the Stage _entity_ looks like a start; really we just need to add a boolean "is_obstacle", let the robot create entities, and add a text object "shape" and storage for a string. --=20 +----------------------------------------------------------------- | PGP http://www.cns.bu.edu/~cjmorlan/public-key.pgp | Cameron Morland ---- Cameron@Morland.ca | | Believe me, my young friend, there is nothing --- absolutely nothing =20 | --- half so much worth doing as simply messing about.... Simply | messing, messing --- about.... Nothing seems really to matter, | that's the charm of it. Whether you get away, or whether you don't; | whether you arrive at your destination or whether you reach somewhere | else or whether you never get anywhere at all, you're always busy, | and you never do anything in particular; and when you've done it | there's always something else to do, and you can do it if you like. | --Water Rat +----------------------------------------------------------------- |
From: Richard V. <va...@cs...> - 2004-05-27 17:56:42
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On May 27, 2004, at 10:28 AM, Cameron Morland wrote: > Hi, > > I would like to be able to make marks on the simulated > environment. These marks would be visible in Stage, but also could be > created, examined, and modified by robots. One might think of them as > blobs of (dry) paint on the floor; you can see them from distance, you > can look down and notice that you're walking on one, but they don't > act as obstacles. > > If paint objects could be simple shapes or text, it would be very > useful. > > I wanted to verify that there isn't anything of the sort already > written before I start hacking it. Suggestions of how to proceed would > also be good. Making these be children of the Stage _entity_ looks > like a start; really we just need to add a boolean "is_obstacle", > let the robot create entities, and add a text object "shape" and > storage for a string. > There isn't anything like this right now. I'm afraid the hacking could be quite a chore as things are currently not set up for dynamic creation and destruction of objects. However, a clever work-around was invented by Doug Blank - just create a supply of objects off-world, i.e. at -1,-1, then move them into place as desired with the truth device set-pose function. You can configure a device to be sensible to laser, but not an obstacle, by setting properties like this: box ( laser_return "visible" obstacle_return "false" ) or, if you want the boxes to look different to walls, set laser_return "bright" , so that box hits will show up in the laser's intensity bits. Or you can give boxes a fiducial_return <int> so they show up in the fiducial_finder device. Using these tricks you can probably get most of what you want, short of painting in the window. And a little GUI hacking could shift those box objects based on mouse clicks without too much trouble. Richard. > -- > +----------------------------------------------------------------- > | PGP http://www.cns.bu.edu/~cjmorlan/public-key.pgp > | Cameron Morland ---- Cameron@Morland.ca > | > | Believe me, my young friend, there is nothing --- absolutely nothing > | --- half so much worth doing as simply messing about.... Simply > | messing, messing --- about.... Nothing seems really to matter, > | that's the charm of it. Whether you get away, or whether you don't; > | whether you arrive at your destination or whether you reach somewhere > | else or whether you never get anywhere at all, you're always busy, > | and you never do anything in particular; and when you've done it > | there's always something else to do, and you can do it if you like. > | --Water Rat > +----------------------------------------------------------------- > -- Richard Vaughan School of Computing Science / Simon Fraser University |