Re: [Playerstage-users] Problem with roomba 500

[simogaie <sim...@gm...>]

thanks for your quickly response...my task is to dividing the map into
squares and moving in that, using obstacle to divide the map...do you think
that is possible do that? but i wanna also see in the map where the robot
is...you're telling me that it is impossible to do?


Rich Mattes-2 wrote:
> 
> On 03/20/2011 11:09 AM, simogaie wrote:
>> Hello I have some problem using roomba 500 with player 3.0.2 and stage
>> 4.0.0.
>> I'm using ubuntu 10.10 and I have installed that with the ppa:launchpad
>> by
>> thjc.
>> With the old version I read that I need to do in the terminal
>> export LD_LIBRARY_PATH=/usr/local/lib
>> export STAGEPATH=/usr/local/lib
>> to use the plugin and I want to ask you if I had to do something similar,
>> beacause maybe my problem is that I don't use stage plugins. Simple.cfg
>> work
>> regolary and I use robot-playerjoy to see the robot move in the map.
>>
>> I use romba 500, with the rs232 cable connect to ttyUSB0 that work
>> correctly, with a knowed map and move roomba in that map. I try powerjoy
>> and
>> the standard .cfg roomba file and it work fine.
>> My .cfg file is
>> driver
>> (		
>>    name "stage"
>>    provides ["simulation:0"]
>>    plugin "stageplugin"
>>    worldfile "simulazione.world"	
>> )
>> driver
>> (
>>    name "roomba"
>>    provides ["position2d:1" "bumper:1" ]
>>    port "/dev/ttyUSB0"
>>    model "roomba500"
>>    safe 1
>>    roomba500 true
>> )
>> and the part of my worldfile is
>> roomba
>> (		
>>    # can refer to the robot by this name
>>    name "roomba500"
>>    pose [ -6.432 -5.895 0 45.000 ]
>>      # report error-free position in world coordinates
>>    localization "gps"
>>    localization_origin [ 0 0 0 0 ]
>> )
>> The other part is window and floorplan with cave like the simple.cfg.
>> I have roomba connect correctly and when I use powerjoy (to see if
>> something
>> wronk) the robot in stage don't move.
>>
>> until now I don't use the bumper part because when I use the standard
>> irobot.inc file with a bumber part:
>>    bumper( bcount 2
>>           blength 0.33
>>           bpose[0] [0.12  0.12  45]
>>            bpose[1] [0.12 -0.12 -45]
>>          )
>> the output is
>> err: Model type bumper not found in model typetable
>> (/build/buildd/stage-4.0.0/libstage/world.cc CreateModel)
>> err: Unknown model type bumper in world file.
>> (/build/buildd/stage-4.0.0/libstage/world.cc CreateModel)
>>
>> Thanks for your help and apologise me if I write a lot of problem with a
>> a
>> very bad english but that is for my thesis and i am really despairing...
>>
> Are you trying to use Stage and control your real roombas at the same 
> time?  Generally you either do one or the other.  You can use Stage to 
> test control algorithms without having to fire up a real robot, or you 
> can test your control algorithms on real robots.  Stage isn't a simple 
> visualization platform for real robots, it's a full fledged simulator, 
> and any robot model you insert into a Stage simulation should be treated 
> as its own independent robot akin to a real roomba500.
> 
> If simple.cfg is launching a Stage window, your LD_LIBRARY_PATH is fine.
> 
> Stage 4.0 doesn't support a bumper model yet.  The config file you're 
> using must have come from an older version of Stage.  You can remove the 
> bumper parts of the config files, or try to add a bumper model to Stage.
> 
> Rich
> 
> 
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