Re: [Playerstage-users] how to drive a vfh to goto the goal point

[jiajia <jia...@16...>]

it works~
thank you all the same!





在2009-05-06，jiajia <jia...@16...> 写道：
hello again,
I also tried GoTo()，however, the output is always(0,0),and the robot still doesn't move!
Thank all of you!





在2009-05-06，jiajia <jia...@16...> 写道：


hello,
I want to drive the vfh to the exact goal point in stage However it doesn't work---the robot doesn't move.

errors are:
playerc error   : timed out waiting for server reply to request planner:0:request:2
terminate called after throwing an instance of 'PlayerCc::PlayerError'

Any advices?  
Thanks in advance!

my test.cc is:
#include <libplayerc++/playerc++.h>
#include <stdio.h>
#include "math.h"
#include <iostream>
#include "args.h" 
int
main(int argc, char *argv[])
{
  parse_args(argc,argv);
  using namespace PlayerCc;

  PlayerClient    robot1("localhost",6665);
  LaserProxy      lp1(&robot1,0);

  Position2dProxy pp1(&robot1,0);
  pp1.SetMotorEnable (true);

  PlannerProxy   pl1(&robot1,0);
    pl1.SetEnable(true);
   bool runit=true;

    while(runit)
    {

        robot1.Read();
        pl1.SetGoalPose(7.0,5.0,0);
        pl1.RequestWaypoints();
        pl1.SetEnable(true);
        runit=false;   
 
      std::cout << pl1.GetGx() << " " << pl1.GetGy() << "\n"; 
    }
}

my .cfg is:
driver
(        
  name "stage"
  provides ["simulation:0" ]
  plugin "libstageplugin"

  # load the named file into the simulator
  worldfile "twocontinue.world"    
)
driver
( 
  name "stage"
  provides ["6665:position2d:0" "6665:laser:0" "6665:sonar:0" ]
  model "robot1" 
)
driver 
(
  name "vfh"
  provides ["6665:position2d:1"]
  requires ["6665:position2d:0" "6665:laser:0" ]
)
driver
(
  name "amcl"
  provides ["6665:position2d:2"]
  requires ["odometry::6665:position2d:1" "6665:laser:0" "laser::6665:map:0"]
)
driver
(
  name "wavefront"
  provides ["6665:planner:0"]
  requires ["output::6665:position2d:1" "input::6665:position2d:1" "6665:map:0"]
  safety_dist 0.15
  distance_epsilon 0.5
  angle_epsilon 10
)







穿越地震带 纪念汶川地震一周年


穿越地震带 纪念汶川地震一周年