[Playerstage-users] problems with vfh

[Andreas V. <and...@df...>]

Hi,

My four-wheel drive robot with a hokuyo laser and vfh drives really
edged and the robot don't want to drive through doors. The laserdatas
and the amcl point cloud looks perfect.I played already with the
safety-distances but it didn't work. Any idea?


Thanks 

Here my cfg-file:


driver
(
        name "teldabot"
        rotation_factor "0.176"
        provides ["position2d:0"]
)

driver
(
        name "mapfile"
        provides ["map:0"]
        filename "/home/dix//player-TelDaBot/maps/labor-flur.pgm"
        resolution 0.05  # meter per pixel
)

driver
(
        name "hokuyo_dfki"
        provides ["ranger:0"]
        verbose 0
        port "/dev/ttyS1"
        baud_rate 115200
)

driver
(
        name "rangertolaser"
        provides ["laser:0"]
        requires ["ranger:0"]
)

driver
(
        name "vfh"
        provides ["position2d:1"]
        requires ["position2d:0" "laser:0"]
	safety_dist 0.2
 	distance_epsilon 0.3
  	angle_epsilon 20
)

driver
(
        name "amcl"
        provides ["localize:0" "position2d:2"]
        requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
        init_pose [-3.900 -8.288 -2.105]
        laser_max_beams 4
        laser_range_max 4.095
        laser_range_bad 0.2
        update_thresh [0.15 0.5]
)

driver
(
        name "wavefront"
        provides ["planner:0"]
        requires ["output:::position2d:1" "input:::position2d:2""map:0"]
        safety_dist 0.2
        distance_epsilon 0.25
        angle_epsilon 20
)