Re: [Playerstage-users] navigation with playernav

[Richard v. <va...@cs...>]

On 6-Feb-08, at 3:40 PM, TheChosenOne wrote:

>
> Hi,
> thanks for your idea.
> I set my sick driver from 270 laser scans to 180, but I don't change  
> it in
> vfh. I will try it (next week, because of exams) and let you know.
> For what is the change: require "laser:1" instead of "laser:0" good  
> for?
>

It connects VFH to the output of the laserrescan driver (laser:1)  
instead of the unprocessed SICK laser data (laser:0).

R/

> Regards.
>
> -TM-
>
>
> VFH is designed to work with 180-degree laser scans, at 0.5-degree
> angular resolution.  I don't know what the SICK S300 outputs, but it
> might be worth using the laserrescan driver to massage the laser data
> into the form expected by vfh.  E.g.:
>
> driver
> (
>   name "laserrescan"
>   requires ["laser:0"]
>   provides ["laser:1"]
>   scan_count 361
>   min_angle -90
>   max_angle 90
> )
>
> Then change vfh to require "laser:1" instead of "laser:0".
>
> 	brian.
>
> TheChosenOne wrote:
>> Hi,
>>
>> i am using a SCITOS G from MetraLabs. I only use the laser a  
>> sicks300.
>> My .cfg file look like this:
>>
>> driver
>> (
>>  name "scitos"
>>  config
>> "/opt/MetraLabs/MLRobotic/etc/config/SCITOS- 
>> G5b_without_Head_config.xml"
>>  debuglevel 3
>>  provides ["odometry:::position2d:0" ":sonar:0"]
>> )
>>
>> driver
>> (
>>  name "sicks300"
>>  plugin "/localhome/demo/Programme/sicks3000/libsicks3000"
>>  provides ["laser:0"]
>>  port "/dev/ttyUSB0"
>> #  rate 230400
>>  rate 500000
>>  read_mode "continuous"
>> #  read_mode "request"
>> )
>>
>> driver
>> (
>>  name "mapfile"
>>  provides ["map:0"]
>>  filename "/localhome/demo/testprogramme/FincaNeu.png"
>>  resolution 0.01
>> )
>>
>> driver
>> (
>>  name "vfh"
>>  provides ["position2d:1"]
>>  requires ["position2d:0" "laser:0"]
>>  distance_epsilon 1
>>  angle_epsilon 5
>> #####################################
>> #  min_turnrate 5
>> #  free_space_cutoff_0ms 2000000.0
>> #  free_space_cutoff_1ms 2000000.0
>> ######################################
>> )
>>
>> 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::6665:position2d:1" "input::6665:position2d:2"
>> "map:0"]
>>  safety_dist 0
>>  distance_epsilon 1
>>  angle_epsilon 5
>>  alwayson 1
>> ###########################
>> # max_radius 1.0
>>
>> )
>>
>> Do you see a fault in the config file or things I should try?
>>
>> Regards.
>>
>> -TM-
>>
>>
>> Joseph Baxter wrote:
>>> Yes you basically replace the vfh with nd, see:
>>>
>>> http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__nd.html
>>>
>>> for details on the config.
>>>
>>> Also reading the papers that are linked on the driver page, helps  
>>> with
>>> the understanding of how it works :)
>>>
>>> What type of robot are you using? What sensors? What does  
>>> your .cfg look
>>> like?
>>>
>>>> From: TheChosenOne <thula@mo...> - 2008-02-01 12:44
>>>> Hi,
>>>>
>>>> I'm using wavefont, vfh an amcl. In the sumulation (stage with  
>>>> the map
>>>> of
>>>> the eal environment) it's fine, but whwn I start it on my real  
>>>> Robot:
>>>> the
>>>> loclaize works, the path is planned, but then he just turn around
>>>> himself.
>>>> I also to changed the configuration options of wavefront, vfh and  
>>>> amcl
>>>> but
>>>> it doesn't help.
>>>> Any ideas?
>>>>
>>>> @Joseph Baxter, hauke
>>>> Where I can find the nd drive and how can I use it in my cfg  
>>>> file. Like
>>>> vfh=
>>>> ?
>>>> Or are there options I have to mention.
>>>>
>>>> Regards.
>>>>
>>>> -TM-
>>>
>>> -- 
>>> Joseph Baxter
>>> Automated Scheduling, Optimisation and Planning Group
>>> School of Computer Science and Information Technology
>>> University of Nottingham
>>> Jubilee Campus
>>> Wollaton Road
>>> Nottingham
>>> NG8 1BB
>>>
>>> Room: B74
>>> Tel: (0115) 84 66569
>>>
>>> http://www.cs.nott.ac.uk/~jlb
>>> http://www.asap.cs.nott.ac.uk/projects/cdmue/
>>> http://www.asap.cs.nott.ac.uk/~robots/
>>>
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>>
>
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