From: Richard v. <va...@cs...> - 2005-02-14 20:05:22
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On 14-Feb-05, at 11:57 AM, Yiannis Gatsoulis wrote: > hello, > > is there a way to simulate/get odometric information in stage (ie just > get the pose). i ve done my homework but the position proxy which i > thought it would return that gives me only zeroes positions... or do i > need to write my own client?? Did you try driving the robot around? The position proxy should give you the robot's current odometry estimate. This defaults to zero, which may be what you saw. If you drive around and the odometry doesn't change, it's a bug. Use the "view/position data" menu item to see Stage's internal display of that data. The playerprint program uses the C++ position proxy, and it works fine for me. If you want to set a non-zero initial odeometric pose, use the "odom" property in the world file. For example, the following entry sets the odometry to be the same as the true pose, so that the robot's odometry will always return the true pose (there is no error model right now). position ( pose [ 2 3 0] odom [ 2 3 0] ) > a second question i have is if it is possible to use a driver which > works with the real robot with stage (eg. amcl or sicklms200)? do i > have to use a passthrough driver as described in man pages or is there > an alternative way? I don't quite understand the question. Can you elaborate a bit? Richard -- Richard Vaughan School of Computing Science / Simon Fraser University |