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From: Brian Gerkey <gerkey@ai...> - 2005-04-05 18:27:21
I've added a new driver, called 'fakelocalize'. It's enabled by default
and has no compile-time dependencies.
The fakelocalize driver requires a simulation device and provides a
localize interface. It gets ground truth 2D pose information for a
given model from the simulation, then provides this pose as if it were
data generated by a localization system.
Any software that requires a localize device, such as playernav or the
wavefront driver, can use this driver in place of amcl. The idea is to
facilitate many-robot simulations with "localized" robots by not
incurring the cost of running amcl, which can be computationally intensive.
Each data message from the fakelocalize driver contains a single
probability 1.0 pose hypothesis that is exactly the model's pose.
Covariance is reported as zero. The SET_POSE request is acknowledged,
but ignored. The GET_PARTICLES request is not supported (you'll get a
NACK if you try it).
Example cfg file usage:
# a model (probably position) declared in "foo.world"
p.s. In the long term, it'll be more efficient to move this
functionality into the simulator(s). At the moment, fakelocalize uses a
thread to periodically poll the simulator for the current pose.
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey
From: Alex R. Mosteo <alejandro@mo...> - 2005-04-05 19:07:45
Brian Gerkey wrote:
> I've added a new driver, called 'fakelocalize'. It's enabled by default
> and has no compile-time dependencies.
> Any software that requires a localize device, such as playernav or the
> wavefront driver, can use this driver in place of amcl. The idea is to
> facilitate many-robot simulations with "localized" robots by not
> incurring the cost of running amcl, which can be computationally intensive.
Here's someone who will start to use it immediately. Thanks!