You must load the vfh driver in player, indicating that at the config file. For example, use the following config file for navigating with Stage simulator, using amcl driver for localization, vfh driver for obstacle avoidance and wavefront driver for path planning:


driver
(
  name "stage"
  plugin "libstageplugin"
  provides ["simulation:0"]
  worldfile "icarus.world"
)

driver
(
  name "stage"
  provides ["map:0"]
  model "lab"
)

driver
(
  name "stage"
  provides ["position2d:0" "laser:0"]
  model "robot1"
)

driver
(
  name "vfh"
  provides ["position2d:1"]
  requires ["position2d:0" "laser:0"]
  distance_epsilon 0.3
  angle_epsilon 5
)

driver
(
  name "amcl"
  provides ["localize:0" "position2d:2"]
  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
)


driver
(
  name "wavefront"
  provides ["planner:0"]
  requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
  alwayson 0
)


Once you have that simulation running, you can use playernav to set starting and end positions of the robot. If you do not want to use playernav for navigation and prefer to do your own code, then look inside the code of playernav to see how it works.

Cheers

--
__________________________
Ricardo A. Tellez      

Research Engineer
Pal Robotics

phone:  +34 93 414 53 47
email: tellezatwork@gmail.com
web: http://www.pal-robotics.com
__________________________