Re: [Playerstage-users] setting odometry for pioneer 2dx

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

On Fri, 24 Sep 2004, Mike Gauthier wrote:

> I tried the SetOdometry, but it sill comes back as 0,0,0 when I make a
> subsequent call to pos->Xpos(), pos->Ypos, pos->Theta() where pos is a
> PositionProxy object.  Any ideas?

This is a real (i.e., not simulated) Pioneer, right?

Do you check for an error (i.e., < 0) return from SetOdometry()?

Finally, make sure that you PlayerClient::Read() a couple of times
before checking the position.  Calling SetOdometry() changes an offset
in the server, but your client won't see the change until the next time
(or maybe the time after) that you receive data.

         brian.

> Quoting Brian Gerkey <ge...@ai...>:
>
>> On Fri, 24 Sep 2004, Mike Gauthier wrote:
>>
>>> I was wondering if there is a way to set the odometry for a pioneer2dx
>> (e.g.
>>> their (x,y) starting positions, or reseting odometry to (0,0,0)).
>>
>> Yep, there's a position config to reset odometry to (0,0,0),
>> and one to set it to arbitrary (x,y,a).  In C++, you can use
>> PositionProxy::ResetOdometry() and PositionProxy::SetOdometry().
>>
>>          brian.
>>
>> --
>> Brian P. Gerkey                    ge...@ai...
>> Stanford AI Lab                    http://ai.stanford.edu/~gerkey
>>
>>
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>

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