Sorry, my mistake. That actually works. I am actually starting to use the fiducial proxy too in my work.

Like John said, did you specify you want to use the fiducial proxy in your cfg file?

It probably looks something like this:

driver (name "stage" provides ["6665:position2d:0" "6665:laser:0" "6665:fiducial:0"] model "robot1")


On Thu, Feb 5, 2009 at 1:09 AM, Edward Rankin <> wrote:
You probably do not want to define your fiducialfinder within your laser definition.

On Thu, Feb 5, 2009 at 12:55 AM, <> wrote:
Is there a guide or working example of the Fiducial finder
anywhere?  I'm having trouble creating and using the
FiducialFinder; I'm getting a NACK when I call the
following minimal example:

int main(int argc, char *argv[])
    PlayerClient robot("localhost");
    Position2dProxy pos(&robot, 0);
    LaserProxy lp(&robot, 0); 
    FiducialProxy fp(&robot,0); //works when this line is
commented out

    pos.SetSpeed(0, 0, 0);

gdb says:
(gdb) backtrace
#0  0xb7fd8410 in __kernel_vsyscall ()
#1  0xb7cde085 in raise () from
#2  0xb7cdfa01 in abort () from
#3  0xb7eee480 in __gnu_cxx::__verbose_terminate_handler
   from /usr/lib/
#4  0xb7eebd05 in ?? () from /usr/lib/
#5  0xb7eebd42 in std::terminate () from
#6  0xb7eebe6a in __cxa_throw () from
#7  0xb7f9bded in PlayerCc::FiducialProxy::Subscribe ()
   from /usr/lib/
#8  0xb7f9c020 in PlayerCc::FiducialProxy::FiducialProxy
   from /usr/lib/
#9  0x08049c4d in main ()

The .world details are below:

#fiducialfinder properties
fiducialfinder (
range_min 0.0
range_max 3.0
range_max_id 2.0
fov 359.0
fiducial_return 1
fiducial_key 1

name "r0"
pose [4.0 6.0 45]
size [0.3 0.3]
color "red"
laser(max_range 20.0 fiducialfinder(range_max 2.0
range_max_id 2.0) )

I'm using
Player: 2.0.4-3
gcc 4.2.3
Ubuntu 8.04 on a desktop PC
2.6.24-19-generic #1 SMP i686 GNU/Linux

Thanks in advance


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