Re: [Playerstage-users] Re: stage: 1. odometric information 2. using amcl driver with stage

[Richard v. <va...@cs...>]

On 15-Feb-05, at 5:20 AM, Alex R. Mosteo wrote:

> Richard vaughan wrote:
> (...)
>> 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).
>
> This is something I was wondering about the other day, but didn't ask 
> because I wasn't still sure.
>
> Are plans to add a error model layer? If not I'll eventually need it 
> so I could contribute it myself. I suppose the best approach could be 
> a filter driver which requires a position and provides a new, "noised" 
> one.
>

I'd prefer noise models to work in Stage without Player, so we can't 
use a Player-driver-based approach. My plan is to allows users to 
specify an odometry model in the world file, which will override the 
default, perfect one. Feel free to implement this yourself and submit 
patches. Basically we need to to pull the odometry-related bits out of 
the position model's update function, and add a switch in there to 
choose the odom model.

For now, the easiest approach (though certainly a cludge) is to add a 
noise model to your client code.

Richard.

>
>
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--
Richard Vaughan
School of Computing Science / Simon Fraser University