Re: [Java-player-users] How can I localize using LocalizeInterface

[John O. <joh...@gm...>]

This depends upon exactly what you want to do.  If you are wanting to
simulate real life then you will need to use some sort of localization such
as the localize interface that you mentioned or a simpler method is to use
odometry off of the position driver, with some reasonable errors set (
http://playerstage.sourceforge.net/doc/Stage-2.0.1/group__model__position.html
position model ).  The odometry will however drift over time so the accuracy
will get less and less.  This is accessible from the getX, getY and getYaw
functions in the position2d class.  You could however use odometry with
"gps" localization that will give you the absolute correct position of the
robot however is not an accurate representation of real life.  This is also
accessible from the same functions as before.

So a bit more detail could be required about exactly what you are looking to
do and how accurately you want to model reality.  The 
http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__amcl.html
LocalizeInterface  requires a map and laser as well so if these are not
available then you need to look at some other method.

thanks

John


Faruq wrote:
> 
> Hi list,
> 
> I am a newbie of java-player (due to some reasons I decided to use Java
> with my planner). I'm trying to  localize a robot in Stage (now studying
> BlobfinderExample and other examples) . 
> 
> My target is to: 
> 1) determine current pose of robot
> 2) drive the robot to a target pose (I found PlayerClient.setSpeed() can
> drive arbitarily, not like GoTo a pose)
> 
> This might be too simple problem to many P/S/G experts. Unfortunately, I
> am lost trying with APIs.
> 
> I am checking  LocalizeInterface and trying to read hypotheses etc. I have
> no idea how to get current pose regularly. 
> 
> Anyone having some hints and/or code snippets for java-palyer
> localization, please reply.
> 
> Thanks in advance,
> Faruq 
> 
> 
> 
> 

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