I see.
Thanks so much!!!!!   ^_^


在2009-04-14,"Duro, Joao" <J.Duro@shu.ac.uk> 写道:
>From your laserobstacleavoid.cc you have a args.h included.
>Inside you have a function called print_usage() which tell you the parameters that you could provide to your laserobstaclevoid.
>
>In your case accordingly to your cfg file you have robot1 listening on port 6665 and robot2 on 6666.
>Therefore "./laserobstacleavoid -p 6665" and then ./laserobstacleavoid -p 6666" will allow you to control both robots.
>
>Does this answers your question?!
>
>Cheers,
>João
>
>________________________________________
>From: jiajia [jiajia9910@163.com]
>Sent: 14 April 2009 04:09
>To: playerstage-users@lists.sourceforge.net
>Subject: Re: [Playerstage-users] how to make several robots working together
>
>hi joao,
>   Thanks for your reply.
>    For example, I try to drive two robots in one stage.
>    After $ player two.cfg , two robots are located in one window. However, when using $./laserobstacleavoid (which is under /usr/local/share/player/examples/libplayerc++), only the first robot moves.
>   What's the code should I use to drive the other robot?
>   Thanks.
>
>   my " two.cfg" is :
># load the Stage plugin simulation driver
>driver
>(
>  name "stage"
>  provides ["simulation:0" ]
>  plugin "libstageplugin"
>
>  # load the named file into the simulator
>  worldfile "two.world"
>)
>
># Export the map
>driver
>(
>  name "stage"
>  provides ["map:0" ]
>  model "cave"
>)
>
># to the model "robot1"
>driver
>(
>  name "stage"
>  provides ["6665:position2d:0" "6665:laser:0" "sonar:0" ]
>  model "robot1"
>)
>driver
>(
>  name "vfh"
>  provides ["6665:position2d:1"]
>  requires ["position2d:0" "laser:0" ]
>)
>
># robot2
>driver
>(
>  name "stage"
>  provides ["6666:position2d:0" "6666:laser:0" "6666:sonar:0" ]
>  model "robot2"
>)
>driver
>(
>  name "vfh"
>  provides ["6666:position2d:1"]
>  requires ["position2d:0" "laser:0" ]
>)
>
>my "two.world" is
>
>include "pioneer.inc"
>include "map.inc"
>include "sick.inc"
>
># for two.cfg
>size [16 16]
>
>resolution 0.02
>interval_sim 100
>interval_real 100
>
># configure the GUI window
>window
>(
>  size [ 695.000 693.000 ]
>  center [-0.010 -0.040]
>  scale 0.028
>)
>
># load an environment bitmap
>map
>(
>  bitmap "three.png"
>  size [16 16]
>  name "cave"
>)
>
># create a robot
>pioneer2dx
>(
>  name "robot1"
>  color "blue"
>  pose [-5 -7 45]
>  sick_laser()
>)
>
>pioneer2dx
>(
>  name "robot2"
>  color "red"
>  pose [-3 -7 45]
>  sick_laser()
>)
>
>
>
>
>
>
>
>在2009-04-08,"Joao Duro" <j.duro@shu.ac.uk> 写道:
>>Could you post your stest code plus the world file.
>>If it is too big use http://www.pastebin.com/
>>
>>Cheers,
>>Joao
>>
>>On Wed, 2009-04-08 at 08:22 +0100, 张加巍 wrote:
>>>
>>> Hi all,
>>>     Sorry to ask here. I am new here.
>>>     I want to simulate several robots on one stage.
>>>     I try the example---test100.world
>>> (/usr/local/share/stage/worlds").  When I type "stest test100.world
>>> robot1", only one robot moves.
>>>    How can I make the 100 robots moving all together? What's the code
>>> I should use?
>>>   Maybe it is a silly question.
>>>   Thank you!
>>>
>>>
>>>
>>>
>>> ______________________________________________________________________
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>
>
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