From: Rich M. <jp...@gm...> - 2009-10-08 19:14:02
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Are you determining the real-world (1,-0.5) with a meterstick? That is, when you drive the robot with playerjoy, are you running playerprint in another window to see where the Pioneer is reporting it is? -----Original Message----- From: Imran Fanaswala [mailto:imr...@gm...] Sent: Thursday, October 08, 2009 2:35 PM To: pla...@li... Subject: Re: [Playerstage-users] Position2DProxy::GoTo() has erratic behavior. On Thu, Oct 8, 2009 at 8:57 PM, Rich Mattes <jp...@gm...> wrote: > Hello, > > Which version of Player are you using? Have you tried simulating this in > Stage yet? I am using Player3. > > Which goal does your output file correspond to? If you told the robot to > GoTo(1, -0.5, 0) and it stopped at (0.5, -0.5, 0), then it's operating > properly. There's a VFH config option called "distance_epsilon", which is > the threshold distance from the goal it uses to determine whether the robot > has reached the goal. Since you didn't define it explicitly, it got set to > its default value of 0.5 meters. That being the case, the distance from a > point (.5, -.5) to (1, -.5) is 0.5 meters. > > If, however, the output file you posted corresponds to the robot trying to > reach a goal point of (1,0,0), the above explanation doesn't apply. You are right. Changing the distance_epsilon now makes the Robot stop around (1,-0.5). But this solves 1 problem. However, the second problem still remains... ------ That is, when the Robot reaches (1,-0.5), it looks nothing like (1,-0.5) in the real world. In other words, when I use playerjoy to manually drive to (1,-0.5) that location is not on the same spot as GoTo(1,-0.5). Why does this happen? I am not sure if this is related, but while GoTo()ing the Robot wobbles around before it reaches its destination. Thanks. > > Rich Mattes > > -----Original Message----- > From: Imran Fanaswala [mailto:imr...@gm...] > Sent: Thursday, October 08, 2009 12:40 PM > To: pla...@li... > Subject: [Playerstage-users] Position2DProxy::GoTo() has erratic behavior. > > Hello > > I am using the VectorFieldHistogram driver on my Pioneer p3dx since I > understand it supports GoTo(). Here is the simple code: > http://codepad.org/3wy0CY1I > > Upon running, my output looks as follows: > http://codepad.org/VAj7RznG > > A couple things to note: > * I did GoTo(1,-0.5,0), but the robot stopped at around (0.5,0.5). Why > did it do that? > > * The robot also did NOT stop near (0.5,0.5) in the "real world" > either. In other words, I marked where (0.5,0.5) ought to be on the > ground, but the Robot was not there - it thought it was there, but it > wasnt. Any ideas? > > --- > In stead of GoTo(), if I simply use SetSpeed(), the vfh driver seems > reports the XPos() and YPos() correctly (that is, this code: > http://codepad.org/O9IzsKFY ) > > --- > My driver config file looks like: http://codepad.org/XcJdYtvT > > Thanks. > Keep up the good work. > > Regards, > Imran > > ---------------------------------------------------------------------------- > -- > Come build with us! The BlackBerry(R) Developer Conference in SF, CA > is the only developer event you need to attend this year. Jumpstart your > developing skills, take BlackBerry mobile applications to market and stay > ahead of the curve. Join us from November 9 - 12, 2009. Register now! > http://p.sf.net/sfu/devconference > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > > ------------------------------------------------------------------------------ > Come build with us! The BlackBerry(R) Developer Conference in SF, CA > is the only developer event you need to attend this year. Jumpstart your > developing skills, take BlackBerry mobile applications to market and stay > ahead of the curve. Join us from November 9 - 12, 2009. Register now! > http://p.sf.net/sfu/devconference > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > ------------------------------------------------------------------------------ Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users |