Re: [Playerstage-users] own robotdriver and sicks300 with wavefront, amcl and vfh / localization

[rickf <rf...@hs...>]

I've read in a thread here, that i should use nd instead  of vfh ,because its
better for some robots , and yep, my roboter is not turning around all the
time with nd + i use laserrescan to convert 270°-sicks300 to 180° with 0.5
res, it is working better but not as good as i want to.

my map is only 1 edge of  1*1 m and the room in wich my roboter drives has
exactly one edge with this geometry

is this enought for amcl?

 i can add the rest of my cfg, if somebody wants to read over it

driver
(
  name "sicks3000"
  provides ["laser:0"]
  requires ["opaque:1"]
  pose [0.4 0 0]
  mirror 1
)

driver
(
  name "serialstream"
  provides ["opaque:1"]
  port "/dev/ttyUSB0"
  transfer_rate 500000
)
driver
(
  name "laserrescan"
  requires ["laser:0"]
  provides ["laser:2"]
  scan_count 361
  min_angle -90
  max_angle 90
)

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