From: David M. <Dav...@dr...> - 2005-01-25 21:48:44
|
Hi, I've been attempting to come up to speed looking at some of the examples and discovered some incongruous behaviour. Running player with the example configuration file 'stage/worlds/simple.cfg' : // ------------------------------------------------------------------- > player simple.cfg ** Player v1.6.1 ** [TCP] Parsing configuration file "simple.cfg" PLAYERPATH: /usr/local/lib trying to load /usr/local/lib/libstage...success invoking player_driver_init()...success Stage driver creating 1 device mapping device 6665.31.0 => "./simple.world" [Include pioneer.inc][Include map.inc] done. Stage driver creating 1 device mapping device 6665.4.0 => "robot" Stage driver creating 1 device mapping device 6665.5.0 => "robot.ranger:0" Stage driver creating 1 device mapping device 6665.6.0 => "robot.laser:0" Using device table: ------------------------------------------------------------ 0 driver stage id 6665:simulation:0 1 driver stage id 6665:position:0 2 driver stage id 6665:sonar:0 3 driver stage id 6665:laser:0 ------------------------------------------------------------ listening on port 6665 ** Player [port 6665] client accepted from 127.0.0.1 on socket 9 ** got position request got laser request ... // ------------------------------------------------------------------- and the playerv client: // ------------------------------------------------------------------- > playerv --laser --position PlayerViewer 1.6.1 Connecting to [localhost:6665] Available devices: localhost:6665 unknown:0 stage unsupported position:0 stage subscribed sonar:0 stage ready laser:0 stage subscribed getting position geom done ... // ------------------------------------------------------------------- and then examining the position data with playerprint; while moving the robot straight ahead (dragging to the right in playerv with the left mousebutton), the x value goes negative from zero. Isn't x supposed to be positive going forward or am I missing something? TIA, David -- David J. Mackay | Dav...@dr... Tactical Vehicle Systems Section | voice (403) 544-4827 Defence R&D Canada - Suffield | fax (403) 544-4704 |
From: <ja...@ba...> - 2005-01-27 16:18:30
|
On Tue, Jan 25, 2005 at 02:48:33PM -0700, David Mackay wrote: > Hi, > I've been attempting to come up to speed looking at some of the examples and > discovered some incongruous behaviour. Running player with the example > configuration file 'stage/worlds/simple.cfg' : [8< Snip output from running Player 8<] > and then examining the position data with playerprint; while moving the robot > straight ahead (dragging to the right in playerv with the left mousebutton), > the x value goes negative from zero. Isn't x supposed to be positive going > forward or am I missing something? > > TIA, David I am also getting this error with everything.cfg in stage 1.6. The problem seems limited to stage, when I run on the real robot the odometry is "correct". Also, both axes seem flipped - if you travel forward 1 meter, turn left 90 degrees (pi/2 radians) and then forward 1 meter, you are at approximately (-1, -1) according to odometry. -- Michael Janssen --- Jamuraa --- ja...@ba... --- ja...@de... |
From: Richard V. <va...@cs...> - 2005-01-28 06:38:13
|
On Jan 27, 2005, at 8:18 AM, ja...@ba... wrote: > On Tue, Jan 25, 2005 at 02:48:33PM -0700, David Mackay wrote: >> Hi, >> I've been attempting to come up to speed looking at some of the >> examples and >> discovered some incongruous behaviour. Running player with the >> example >> configuration file 'stage/worlds/simple.cfg' : > > [8< Snip output from running Player 8<] > >> and then examining the position data with playerprint; while moving >> the robot >> straight ahead (dragging to the right in playerv with the left >> mousebutton), >> the x value goes negative from zero. Isn't x supposed to be positive >> going >> forward or am I missing something? >> >> TIA, David > > I am also getting this error with everything.cfg in stage 1.6. The > problem seems limited to stage, when I run on the real robot the > odometry is "correct". > > Also, both axes seem flipped - if you travel forward 1 meter, turn > left 90 degrees (pi/2 radians) and then forward 1 meter, you are at > approximately (-1, -1) according to odometry. That's a bug. Yuk. Could you do me a favour and report it using the bug tracker (if this bug isn't there already), please? Richard. -- Richard Vaughan School of Computing Science / Simon Fraser University |
From: <ja...@ba...> - 2005-01-28 19:14:50
|
On Thu, Jan 27, 2005 at 10:38:06PM -0800, Richard Vaughan wrote: > > On Jan 27, 2005, at 8:18 AM, ja...@ba... wrote: > > >On Tue, Jan 25, 2005 at 02:48:33PM -0700, David Mackay wrote: > >>Hi, > >>I've been attempting to come up to speed looking at some of the > >>examples and > >>discovered some incongruous behaviour. Running player with the > >>example > >>configuration file 'stage/worlds/simple.cfg' : > > > >[8< Snip output from running Player 8<] > > > >>and then examining the position data with playerprint; while moving > >>the robot > >>straight ahead (dragging to the right in playerv with the left > >>mousebutton), > >>the x value goes negative from zero. Isn't x supposed to be positive > >>going > >>forward or am I missing something? > >> > >>TIA, David > > > >I am also getting this error with everything.cfg in stage 1.6. The > >problem seems limited to stage, when I run on the real robot the > >odometry is "correct". > > > >Also, both axes seem flipped - if you travel forward 1 meter, turn > >left 90 degrees (pi/2 radians) and then forward 1 meter, you are at > >approximately (-1, -1) according to odometry. > > That's a bug. Yuk. Could you do me a favour and report it using the bug > tracker (if this bug isn't there already), please? > > Richard. Reported with lots of details. Being that I hate the bugtracker and it's ability to wrap lines of patches, here is the patch which worked for me: diff -ru stage-1.6.0/src/model_position.c new-stage-1.6.0/src/model_position.c --- stage-1.6.0/src/model_position.c 2004-12-29 22:39:25.000000000 -0600 +++ new-stage-1.6.0/src/model_position.c 2005-01-28 11:23:07.000000000 -0600 @@ -281,8 +281,8 @@ double dy = after.y - before.y; double da = after.a - before.a; - pos->odom.x -= dx * cos(pos->odom_origin.a) - dy * sin(pos->odom_origin.a); - pos->odom.y -= dx * sin(pos->odom_origin.a) + dy * cos(pos->odom_origin.a); + pos->odom.x += dx * cos(pos->odom_origin.a) - dy * sin(pos->odom_origin.a); + pos->odom.y += dx * sin(pos->odom_origin.a) + dy * cos(pos->odom_origin.a); pos->odom.a += da; pos->odom.a = NORMALIZE(pos->odom.a); -- Michael Janssen --- Jamuraa --- ja...@ba... --- ja...@de... |
From: Jared G. <jar...@dr...> - 2005-01-31 21:28:18
|
Found a bug already eh? On Tue, 2005-01-25 at 14:48 -0700, David Mackay wrote: > Hi, > I've been attempting to come up to speed looking at some of the examples and > discovered some incongruous behaviour. Running player with the example > configuration file 'stage/worlds/simple.cfg' : > > // ------------------------------------------------------------------- > > player simple.cfg > ** Player v1.6.1 ** [TCP] > > Parsing configuration file "simple.cfg" > PLAYERPATH: /usr/local/lib > trying to load /usr/local/lib/libstage...success > invoking player_driver_init()...success > Stage driver creating 1 device > mapping device 6665.31.0 => "./simple.world" [Include pioneer.inc][Include > map.inc] done. > Stage driver creating 1 device > mapping device 6665.4.0 => "robot" > Stage driver creating 1 device > mapping device 6665.5.0 => "robot.ranger:0" > Stage driver creating 1 device > mapping device 6665.6.0 => "robot.laser:0" > Using device table: > ------------------------------------------------------------ > 0 driver stage id 6665:simulation:0 > 1 driver stage id 6665:position:0 > 2 driver stage id 6665:sonar:0 > 3 driver stage id 6665:laser:0 > ------------------------------------------------------------ > listening on port 6665 > ** Player [port 6665] client accepted from 127.0.0.1 on socket 9 ** > got position request > got laser request > ... > > // ------------------------------------------------------------------- > > and the playerv client: > > // ------------------------------------------------------------------- > > > playerv --laser --position > PlayerViewer 1.6.1 > Connecting to [localhost:6665] > Available devices: localhost:6665 > unknown:0 stage unsupported > position:0 stage subscribed > sonar:0 stage ready > laser:0 stage subscribed > getting position geom > done > ... > > // ------------------------------------------------------------------- > > and then examining the position data with playerprint; while moving the robot > straight ahead (dragging to the right in playerv with the left mousebutton), > the x value goes negative from zero. Isn't x supposed to be positive going > forward or am I missing something? > > TIA, David > Jared Giesbrecht Defence Scientist Autonomous Land Systems Defence R&D Canada Suffield Phone: 403-544-4709 Email: Jar...@dr... |
From: Richard v. <va...@cs...> - 2005-01-31 21:43:29
|
This sounds rather like this bug: http://sourceforge.net/tracker/index.php? func=detail&aid=1111057&group_id=42445&atid=433164 That has been reported, discussed and fixed in CVS already. The fix will be included in the next release, to appear this week. The bug tracker is your first port of call to research and report bugs! cheers, Richard. On 31-Jan-05, at 1:28 PM, Jared Giesbrecht wrote: > Found a bug already eh? > > > On Tue, 2005-01-25 at 14:48 -0700, David Mackay wrote: >> Hi, >> I've been attempting to come up to speed looking at some of the >> examples and >> discovered some incongruous behaviour. Running player with the >> example >> configuration file 'stage/worlds/simple.cfg' : >> >> // ------------------------------------------------------------------- >>> player simple.cfg >> ** Player v1.6.1 ** [TCP] >> >> Parsing configuration file "simple.cfg" >> PLAYERPATH: /usr/local/lib >> trying to load /usr/local/lib/libstage...success >> invoking player_driver_init()...success >> Stage driver creating 1 device >> mapping device 6665.31.0 => "./simple.world" [Include >> pioneer.inc][Include >> map.inc] done. >> Stage driver creating 1 device >> mapping device 6665.4.0 => "robot" >> Stage driver creating 1 device >> mapping device 6665.5.0 => "robot.ranger:0" >> Stage driver creating 1 device >> mapping device 6665.6.0 => "robot.laser:0" >> Using device table: >> ------------------------------------------------------------ >> 0 driver stage id 6665:simulation:0 >> 1 driver stage id 6665:position:0 >> 2 driver stage id 6665:sonar:0 >> 3 driver stage id 6665:laser:0 >> ------------------------------------------------------------ >> listening on port 6665 >> ** Player [port 6665] client accepted from 127.0.0.1 on socket 9 ** >> got position request >> got laser request >> ... >> >> // ------------------------------------------------------------------- >> >> and the playerv client: >> >> // ------------------------------------------------------------------- >> >>> playerv --laser --position >> PlayerViewer 1.6.1 >> Connecting to [localhost:6665] >> Available devices: localhost:6665 >> unknown:0 stage unsupported >> position:0 stage subscribed >> sonar:0 stage ready >> laser:0 stage subscribed >> getting position geom >> done >> ... >> >> // ------------------------------------------------------------------- >> >> and then examining the position data with playerprint; while moving >> the robot >> straight ahead (dragging to the right in playerv with the left >> mousebutton), >> the x value goes negative from zero. Isn't x supposed to be positive >> going >> forward or am I missing something? >> >> TIA, David >> > Jared Giesbrecht > Defence Scientist > Autonomous Land Systems > Defence R&D Canada Suffield > Phone: 403-544-4709 > Email: Jar...@dr... > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting > Tool for open source databases. Create drag-&-drop reports. Save time > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- Richard Vaughan School of Computing Science / Simon Fraser University |