Re: [Playerstage-users] Absolute Position

[Brian G. <ge...@ai...>]

On Mon, 20 Sep 2004 dan...@dc... wrote:

> Does anyone know how to get an absolute position in meters using gps
> device for C++ library?

I assume you're using Stage?

The gps model was recently removed from Stage 1.3.x.   A newer, better
model will probably appear in the next major release of Stage.

In the meantime, you can use the truth device, which provides ground
truth from the simulator.  In your .world file, attach a truth device
to your robot, e.g.:

   positon
   (
     truth()
   )

Then, in your C++ client program, use the TruthProxy to get the robot's
global pose (of course, you should ignore the heading if you're trying
to simulate GPS).

         brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey