[Playerstage-users] Re: sensor for amcl && mutiple robots simulation

[<tin...@cd...>]

Hi,

Sorry to bother here again.

I am working on Stage with mutiple robots.However, I have trouble in
following the advice from the mailing list :

http://sourceforge.net/mailarchive/message.php?msg_id=12306639


Please bear me with my unintelligent question..


I changed my config file as :

driver
 (
    name "stage"
    provides ["simulation:0"]
    plugin "libstage"
    worldfile "everything.world"
 )
#p0 is a robot defined in everything.world
 driver
 (
    name "stage"
    provides ["6665:position:0" "6665:laser:0"]
    model "p0"
 )
 driver
 (
    name "stage"
    provides ["6665:position:1" "6665:laser:1"]
    model "p0"
 )

 driver
 (
    name "mapfile"
    provides ["map:0"]
    filename "bitmaps/table.png"
    resolution 0.02
    negate 1
 )

 driver
 (
    name "amcl"
    provides ["localize:0"]
    requires ["odometry::position:0" "laser:0" "laser::map:0"]
    init_pose [0 0 0]
    init_pose_var [.1 .1 2]
    alwayson 1
    update_thresh [0.1 5]
 )

 ...
it gives me error message as:

  Stage driver creating 2 devices
    mapping device 6665.4.0 => "p0"
    mapping device 6665.6.0 => "p0.laser:0"
  Stage driver creating 2 devices
    mapping device 6665.4.1 => "p1"
    mapping device 6665.6.1 => "p1.laser:0"
error   : duplicate device id 6665:position:1
error   : failed to add interface

Would you mind doing me a favor to have a look at this problem? I will be
really
grateful for your very kind help and understanding.

Wish you a nice day ahead! =)

Best Regards,
Tingting
>