Re: [Playerstage-users] Driver name inheritance and multiple definitions

[Richard V. <va...@sf...>]

On Thu, Sep 27, 2012 at 9:10 AM, Claudio Carbone <er...@li...> wrote:

> So is there a way to connect to a device using his parent?
> Like r2.position2d or something similar.
> I'd rather not hardcode that if possibile.

No, you have created the Player devices localhost:position2d:0,
localhost:position2d:1, etc. They are mapped onto Stage models but
there is no way for the client to address them by their Stage name.
You can do this using the Stage client directly, if you don't need
Player,

>
> Now odometry: is there a way I can have both precise GPS type, and
> simple error-accumulating odometry?
> Judging by the robot definition I doubt it, but I really hope there is
> some obscure way someone may point out.
> I need to develop a Kalman type filter to fuse odometry and gps data
> (real robot will have both, and both have different errors).

Yes. Put another position model on top of your robot - you can make it
small or even have no box (body) at all - and configure it to use GPS
localization mode (see the model_position docs). Configure the
robot's "real" position model to use odom localization mode. Map these
position models to one Player position2d device each.

- rtv