From: Vikram H. <har...@op...> - 2003-10-30 14:16:28
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Hi there, I am in the process of creating a robot (a 4 wheel walker frame which only takes into consideration the rear wheels - monitored with wheel encoders - and controls these wheels using brakes [no motor to control wheels since movement is determined by the user] ) with my own particular measurements (i.e. I want to simulate the movement of the robot I am using in Stage) and was wondering if it is possible to code up where exactly the sensors I am using will be mounted on the robot. Reason is, the laser sensor is mounted on the front of the robot, the wheel encoders on the rear wheels, and the 2 IR sensors are mounted in the middle facing out. Is it possibly to specify this in Stage? If so, how? Vik |
From: brian g. <ge...@ro...> - 2003-11-03 00:22:08
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On Fri, 31 Oct 2003, Vikram Harinath wrote: > I am in the process of creating a robot (a 4 wheel walker frame which > only takes into consideration the rear wheels - monitored with wheel > encoders - and controls these wheels using brakes [no motor to control > wheels since movement is determined by the user] ) with my own > particular measurements (i.e. I want to simulate the movement of the > robot I am using in Stage) and was wondering if it is possible to code > up where exactly the sensors I am using will be mounted on the robot. > > Reason is, the laser sensor is mounted on the front of the robot, the > wheel encoders on the rear wheels, and the 2 IR sensors are mounted in > the middle facing out. Is it possibly to specify this in Stage? If so, > how? hi Vik, Every Stage entity can have a 3-valued pose, which specifies its (x,y,theta) offset relative to its parent. So, for example, if you want your laser to face backwards from the center of the robot, do something like: position ( laser(pose [0 0 180]) ) Sonars additionally accept 'scount' and 'spose' options to specify the number and positions of the individual transducers that make up the array. For an example, look in the 'pioneer.inc' file, included with the Stage distribution. brian. |