Stage doesn’t support the “ranger” interface yet.  You can use the “laser” interface, and then use the “lasertoranger” to convert the simulated laser to a ranger.  This should let you use your client program with your real robot and the simulated robot.

 

Rich

 

From: Patrick Sannes [mailto:patrick.sannes@gmail.com]
Sent: Saturday, July 17, 2010 4:53 AM
To: playerstage-users@lists.sourceforge.net
Subject: [Playerstage-users] simulation with ranger

 

Hi

 

Im preparing for a summerschool. During that summerschool we are working with a pioneer robot with an laser range finder. During the prep day we received a cfg file:

 

driver
(
name "p2os"
# provides ["odometry:::position2d:0" "sonar:0" "power:0"]
provides ["odometry:::position2d:0"]
port "/dev/ttyS0"
)

driver
(
name "hokuyo_aist"
provides ["ranger:0"]
portopts "type=serial, device=/dev/ttyACM0, timeout=1"
)

 

I tried to create a simulation file from it. But when im trying the next code with ranger instead of laser it doesn't work.

 

test.cfg snippet

driver
(
name "stage"
  provides [ "position2d:0" "laser:0" ] //provides [ "position2d:0" "ranger:0" ]
model "happy"
)

 

and in the .world file I have (among other things)

include "hokuyo.inc"


pioneer2dx
(
name "happy"
color "red"
hokuyolaser()
)

 

Probably I did something wrong, but I can't find enough documentation to figure out what. 

 

Hope someone can help me out.

 

Patrick