## Re: [Playerstage-users] Accuracy of bumpers in stage ?

 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Jean-Baptiste Mouret / Mandor - 2008-01-12 12:57:16 ```Le 12 janv. 08 =E0 11:03, Paul Osmialowski a =E9crit : > This problem annoyed me too, but I've managed with it somewhat =20 > different > way. You can download tarball with my worlds directory from here: > http://vlab.pjwstk.edu.pl/~vlabdemo/roombas Thank you Paul. Il will try this as soon as possible. I am also considering to code a simple Roomba simulator because I =20 need to use the simulation code with evolutionary algorithms while =20 Player/Stage is not very well suited to work in accelerated time (and =20= not as fast as a non-generic simulator). Best regards, -- Jean-Baptiste Mouret / Mandor http://animatlab.lip6.fr/~mouret tel : (+33) 6 28 35 10 49 ```

 [Playerstage-users] Accuracy of bumpers in stage ? From: Jean-Baptiste Mouret / Mandor - 2008-01-11 16:31:21 ``` Hi, I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to simulate a Roomba and to avoid obstacles using its two bumpers. However, I get situations where the robot is not moving very close to an obstacle (I suppose that stage detects a collision) but where no bumper detects anything. Here is one of this situations : http://webia.lip6.fr/~mouret/bumper.png Maybe a problem with a bounding box ? What can I do to have "robust" bumpers ? Here is the definition of my robot : define roomba position ( size [0.33 0.33] # this polygon approximates the circular shape of a Roomba polygons 1 polygon[0].points 16 polygon[0].point[0] [ 0.225 0.000 ] polygon[0].point[1] [ 0.208 0.086 ] polygon[0].point[2] [ 0.159 0.159 ] polygon[0].point[3] [ 0.086 0.208 ] polygon[0].point[4] [ 0.000 0.225 ] polygon[0].point[5] [ -0.086 0.208 ] polygon[0].point[6] [ -0.159 0.159 ] polygon[0].point[7] [ -0.208 0.086 ] polygon[0].point[8] [ -0.225 0.000 ] polygon[0].point[9] [ -0.208 -0.086 ] polygon[0].point[10] [ -0.159 -0.159 ] polygon[0].point[11] [ -0.086 -0.208 ] polygon[0].point[12] [ -0.000 -0.225 ] polygon[0].point[13] [ 0.086 -0.208 ] polygon[0].point[14] [ 0.159 -0.159 ] polygon[0].point[15] [ 0.208 -0.086 ] # this bumper array VERY crudely approximates the Roomba's bumpers bumper( bcount 3 blength 0.13 bpose[0] [0.12 0.12 45] bpose[1] [0.12 -0.12 -45] bpose[2] [0.16 0 0] ) ) Thanks, -- Jean-Baptiste Mouret / Mandor http://animatlab.lip6.fr/~mouret tel : (+33) 6 28 35 10 49 ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Reed Hedges - 2008-01-11 16:51:55 ```Jean-Baptiste Mouret / Mandor wrote: > Hi, > I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to > simulate a Roomba and to avoid obstacles using its two > bumpers. However, I get situations where the robot is not moving very > close to an obstacle (I suppose that stage detects a collision) but > where no bumper detects anything. > > Here is one of this situations : > http://webia.lip6.fr/~mouret/bumper.png My guess is that the bumper needs to basically intersect with the obstacle. Turn on "Matrix Occupancy" and/or "Matrix Tree" in the View->Debug menu to see if the bumper and obstacle are in the same matrix cell or not. By default the minimal matrix cell is quite small. Reed ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Jean-Baptiste Mouret / Mandor - 2008-01-11 17:04:49 ``` Hi Reed, From: Reed Hedges > Jean-Baptiste Mouret / Mandor wrote: > > Hi, > > I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to > > simulate a Roomba and to avoid obstacles using its two > > bumpers. However, I get situations where the robot is not moving very > > close to an obstacle (I suppose that stage detects a collision) but > > where no bumper detects anything. > > > > Here is one of this situations : > > http://webia.lip6.fr/~mouret/bumper.png > > My guess is that the bumper needs to basically intersect with the obstacle. > Turn on "Matrix Occupancy" and/or "Matrix Tree" in the View->Debug menu to see > if the bumper and obstacle are in the same matrix cell or not. By default the > minimal matrix cell is quite small. Here is the Matrix : http://webia.lip6.fr/~mouret/bumper2.png The bumper seems to not be in the same matrix cell. But why does the robot stop ? I would be fine if stage would accept to let the robot intersect its bumpers with the obstacles ; my problem is basically that collision detection and bumpers do not agree together. bye, -- Jean-Baptiste Mouret / Mandor http://animatlab.lip6.fr/~mouret tel : (+33) 6 28 35 10 49 ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Christian 'Jason' Peper - 2008-01-11 18:39:58 ```Jean-Baptiste Mouret / Mandor schrubselte: > http://webia.lip6.fr/~mouret/bumper2.png > > The bumper seems to not be in the same matrix cell. But why does the > robot stop ? Bumper and Obstacle are in a common matrix cell. The problem seems to be with bumper not being activated. (Christian) Jason Peper=20 --=20 In der Realit=C3=A4t verbergen sich die Wahrheiten auch im bl=C3=BChenden Unsinn. [Kurt Fischer in detebe] ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Jean-Baptiste Mouret / Mandor - 2008-01-11 17:22:45 ``` Hi again, From: Reed Hedges > Jean-Baptiste Mouret / Mandor wrote: > > Hi, > > I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to > > simulate a Roomba and to avoid obstacles using its two > > bumpers. However, I get situations where the robot is not moving very > > close to an obstacle (I suppose that stage detects a collision) but > > where no bumper detects anything. > > > > Here is one of this situations : > > http://webia.lip6.fr/~mouret/bumper.png > > My guess is that the bumper needs to basically intersect with the obstacle. > Turn on "Matrix Occupancy" and/or "Matrix Tree" in the View->Debug menu to see > if the bumper and obstacle are in the same matrix cell or not. By default the > minimal matrix cell is quite small. Here is another weird situation : the bumper is clearly intersecting the obstacle and it's not activated. http://webia.lip6.fr/~mouret/bumper3.png Any idea of what's going on ? Bye, -- Jean-Baptiste Mouret / Mandor http://animatlab.lip6.fr/~mouret tel : (+33) 6 28 35 10 49 ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Reed Hedges - 2008-01-11 18:08:18 ```It sort of looks like the bumpers are only being drawn, they don't seem to exist as obstacles in the matrix. I am not very familiar with the bumpers implementation in Stage 2.1, maybe someone else knows if you need to specify more or different properties in the world file to make it work? (Maybe obstacle_return?) Reed Jean-Baptiste Mouret / Mandor wrote: > Hi again, > > From: Reed Hedges >> Jean-Baptiste Mouret / Mandor wrote: >>> Hi, >>> I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to >>> simulate a Roomba and to avoid obstacles using its two >>> bumpers. However, I get situations where the robot is not moving very >>> close to an obstacle (I suppose that stage detects a collision) but >>> where no bumper detects anything. >>> >>> Here is one of this situations : >>> http://webia.lip6.fr/~mouret/bumper.png >> My guess is that the bumper needs to basically intersect with the obstacle. >> Turn on "Matrix Occupancy" and/or "Matrix Tree" in the View->Debug menu to see >> if the bumper and obstacle are in the same matrix cell or not. By default the >> minimal matrix cell is quite small. > > Here is another weird situation : the bumper is clearly intersecting > the obstacle and it's not activated. > > http://webia.lip6.fr/~mouret/bumper3.png > > Any idea of what's going on ? > > Bye, ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Richard vaughan - 2008-01-11 19:23:02 ```That really should not be happening - it's a bug. One clue to the problem may be that the occupancy quadtree looks to be slightly out of sync with the rendering of the robot's body polygon. Does anyone have a little time to help Jean-Baptiste fix or work around this? It's the first week of our semester and I'm tied up for a while. Richard/ On 11-Jan-08, at 9:22 AM, Jean-Baptiste Mouret / Mandor wrote: > Hi again, > > From: Reed Hedges >> Jean-Baptiste Mouret / Mandor wrote: >>> Hi, >>> I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to >>> simulate a Roomba and to avoid obstacles using its two >>> bumpers. However, I get situations where the robot is not moving >>> very >>> close to an obstacle (I suppose that stage detects a collision) but >>> where no bumper detects anything. >>> >>> Here is one of this situations : >>> http://webia.lip6.fr/~mouret/bumper.png >> >> My guess is that the bumper needs to basically intersect with the >> obstacle. >> Turn on "Matrix Occupancy" and/or "Matrix Tree" in the View->Debug >> menu to see >> if the bumper and obstacle are in the same matrix cell or not. By >> default the >> minimal matrix cell is quite small. > > Here is another weird situation : the bumper is clearly intersecting > the obstacle and it's not activated. > > http://webia.lip6.fr/~mouret/bumper3.png > > Any idea of what's going on ? > > Bye, > -- > Jean-Baptiste Mouret / Mandor > http://animatlab.lip6.fr/~mouret > tel : (+33) 6 28 35 10 49 > > ------------------------------------------------------------------------- > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services for > just about anything Open Source. > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Paul Osmialowski - 2008-01-12 10:00:44 ```This problem annoyed me too, but I've managed with it somewhat different way. You can download tarball with my worlds directory from here: http://vlab.pjwstk.edu.pl/~vlabdemo/roombas After unpacking this, run 'make' command to build plugins that I've developed. Run player with roombas.cfg, it's well known 'everything' world but equipped with 10 roomba robots. First of the robots makes use of my plugins. One of that plugins called 'safedrive' offers another pair of position2d and bumber interfaces. Normally it works as passthrough to normal bumper and position2d devices, but also it tracks velocity commands sent through position2d and checks if move-ahead commands had effect: if robot is locked it is raported through bumper device. To give it a try, subscribe position2d:10 and bumper:10 instead of normally used position2d:0/bumper:0. You can easily propagate this configuration to other roombas. Additionally, all roombas are equipped with blobfinder device (as my real roombas have USB camera installed) and "gps" device offering position2d interface. Cheers, Paul On Fri, 11 Jan 2008, Jean-Baptiste Mouret / Mandor wrote: > Hi, > I just compiled player2.1.0rc1 and stage2.1.0rc1. I'm trying to > simulate a Roomba and to avoid obstacles using its two > bumpers. However, I get situations where the robot is not moving very > close to an obstacle (I suppose that stage detects a collision) but > where no bumper detects anything. > > Here is one of this situations : > http://webia.lip6.fr/~mouret/bumper.png > > Maybe a problem with a bounding box ? > > What can I do to have "robust" bumpers ? > > Here is the definition of my robot : > > define roomba position > ( > size [0.33 0.33] > > # this polygon approximates the circular shape of a Roomba > polygons 1 > polygon[0].points 16 > polygon[0].point[0] [ 0.225 0.000 ] > polygon[0].point[1] [ 0.208 0.086 ] > polygon[0].point[2] [ 0.159 0.159 ] > polygon[0].point[3] [ 0.086 0.208 ] > polygon[0].point[4] [ 0.000 0.225 ] > polygon[0].point[5] [ -0.086 0.208 ] > polygon[0].point[6] [ -0.159 0.159 ] > polygon[0].point[7] [ -0.208 0.086 ] > polygon[0].point[8] [ -0.225 0.000 ] > polygon[0].point[9] [ -0.208 -0.086 ] > polygon[0].point[10] [ -0.159 -0.159 ] > polygon[0].point[11] [ -0.086 -0.208 ] > polygon[0].point[12] [ -0.000 -0.225 ] > polygon[0].point[13] [ 0.086 -0.208 ] > polygon[0].point[14] [ 0.159 -0.159 ] > polygon[0].point[15] [ 0.208 -0.086 ] > > # this bumper array VERY crudely approximates the Roomba's bumpers > bumper( bcount 3 > blength 0.13 > bpose[0] [0.12 0.12 45] > bpose[1] [0.12 -0.12 -45] > bpose[2] [0.16 0 0] > > ) > ) > > > Thanks, > -- > Jean-Baptiste Mouret / Mandor > http://animatlab.lip6.fr/~mouret > tel : (+33) 6 28 35 10 49 > > ------------------------------------------------------------------------- > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services for > just about anything Open Source. > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > ```
 Re: [Playerstage-users] Accuracy of bumpers in stage ? From: Jean-Baptiste Mouret / Mandor - 2008-01-12 12:57:16 ```Le 12 janv. 08 =E0 11:03, Paul Osmialowski a =E9crit : > This problem annoyed me too, but I've managed with it somewhat =20 > different > way. You can download tarball with my worlds directory from here: > http://vlab.pjwstk.edu.pl/~vlabdemo/roombas Thank you Paul. Il will try this as soon as possible. I am also considering to code a simple Roomba simulator because I =20 need to use the simulation code with evolutionary algorithms while =20 Player/Stage is not very well suited to work in accelerated time (and =20= not as fast as a non-generic simulator). Best regards, -- Jean-Baptiste Mouret / Mandor http://animatlab.lip6.fr/~mouret tel : (+33) 6 28 35 10 49 ```