From: LuizP <lm...@ho...> - 2011-07-07 17:38:30
|
Hello Everyone, I'm working on a college project to use the EKF (Extended Kalman Filter) to localize a robot on Player/Stage. Recently on my research, i found the driver "ekfvloc" (available at: http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) And I managed to install it. But now i have no idea on how to use the information that this driver generates. I'm still a begginner at Player/Stage implementations.. so.. Can anyone help me on telling What do I have to do to get the information provided by this driver? What and Where should I put the code, to use and get information from it? What should I put on my main code to see the data provided by the driver. Thanks, B. Regards. - Luiz Pascoal -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32015261.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Luiz G. B. M. <gui...@gm...> - 2011-07-07 17:55:18
|
I don't know how to use that one, but I used the following library : http://kalman.sourceforge.net/doc/index.html There's a nice documentation and a intermediate example. Basically, you inherit from a class EKF, fill the matrices embedded in it in a simple way, then you just run something like Filter.Update() and Filter.GetStates() in a loop. It's an option if you wanna try it. Luiz. 2011/7/7 LuizP <lm...@ho...> > > Hello Everyone, > > I'm working on a college project to use the EKF (Extended Kalman Filter) to > localize a robot on Player/Stage. > Recently on my research, i found the driver "ekfvloc" (available at: > > http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166 > ) > And I managed to install it. > > But now i have no idea on how to use the information that this driver > generates. I'm still a begginner at Player/Stage implementations.. > > so.. Can anyone help me on telling What do I have to do to get the > information provided by this driver? > What and Where should I put the code, to use and get information from it? > What should I put on my main code to see the data provided by the driver. > > > Thanks, > B. Regards. > > - Luiz Pascoal > -- > View this message in context: > http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32015261.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > |
From: LuizP <lm...@ho...> - 2011-07-07 18:33:37
|
Hello Luiz! Thanks for your reply! I'll try to make it work using those classes. Another thing, are you from Brasil? porque eu sou também. rsrs. B. Regards Luiz Guilherme Brant Machado wrote: > > I don't know how to use that one, but I used the following library : > http://kalman.sourceforge.net/doc/index.html > > There's a nice documentation and a intermediate example. Basically, you > inherit from a class EKF, fill the matrices embedded in it in a simple > way, > then you just run something like Filter.Update() and Filter.GetStates() in > a > loop. It's an option if you wanna try it. > > Luiz. > > 2011/7/7 LuizP <lm...@ho...> > >> >> Hello Everyone, >> >> I'm working on a college project to use the EKF (Extended Kalman Filter) >> to >> localize a robot on Player/Stage. >> Recently on my research, i found the driver "ekfvloc" (available at: >> >> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166 >> ) >> And I managed to install it. >> >> But now i have no idea on how to use the information that this driver >> generates. I'm still a begginner at Player/Stage implementations.. >> >> so.. Can anyone help me on telling What do I have to do to get the >> information provided by this driver? >> What and Where should I put the code, to use and get information from it? >> What should I put on my main code to see the data provided by the driver. >> >> >> Thanks, >> B. Regards. >> >> - Luiz Pascoal >> -- >> View this message in context: >> http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32015261.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> >> ------------------------------------------------------------------------------ >> All of the data generated in your IT infrastructure is seriously >> valuable. >> Why? It contains a definitive record of application performance, security >> threats, fraudulent activity, and more. Splunk takes this data and makes >> sense of it. IT sense. And common sense. >> http://p.sf.net/sfu/splunk-d2d-c2 >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32015545.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Rich M. <jp...@gm...> - 2011-07-07 18:14:14
|
> -----Original Message----- > From: LuizP [mailto:lm...@ho...] > Sent: Thursday, July 07, 2011 1:38 PM > To: pla...@li... > Subject: [Playerstage-users] How to Use the Driver ekfvloc. > > > Hello Everyone, > > I'm working on a college project to use the EKF (Extended Kalman > Filter) to > localize a robot on Player/Stage. > Recently on my research, i found the driver "ekfvloc" (available at: > http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_ > id=42445&atid=433166) > And I managed to install it. > > But now i have no idea on how to use the information that this driver > generates. I'm still a begginner at Player/Stage implementations.. > > so.. Can anyone help me on telling What do I have to do to get the > information provided by this driver? > What and Where should I put the code, to use and get information from > it? > What should I put on my main code to see the data provided by the > driver. > > > Thanks, > B. Regards. > > - Luiz Pascoal For starters, this patch was applied to the trunk version of Player, so it should be included if you downloaded the code from SVN (it will probably removed in the future though, it includes a matrix header with a non-free license that is incompatible with the rest of Player). If you're new to Player, please start by looking at Player documentation[1] and tutorials[2] to get a feel for how to run Player, write configuration files, etc. Any help you get from the mailing lists isn't going to be very useful if you don't understand the basic terminology or procedures. Once you get a feel for Player, have a look at the driver documentation[3] for the ekfvmap driver (also located in the patch you've attached.) It has a sample configuration setup, and descriptions of all of the parameters. Try setting up a configuration with Stage or with your robot and see if you can get the driver to work. One important thing to note is that you'll need a vectormap of the area you're trying to localize in before you start. It looks like the driver can use the map interface to read one from another driver (like vmapfile), or it can load vectors from a file on its own. To see output from the driver, you can use Player's utilities like playerv and playerprint, or you can access the interfaces from your own programs using the Player client libraries (info on these is in the tutorials and documentation, and examples are in the Player source). Once you do all of this, if you have specific questions or issues, please feel free to reply to the list with a description of your problem, what you've tried, etc (see [4] for details). Rich [1] http://playerstage.sourceforge.net/doc/Player-svn/player/index.html [2] http://playerstage.sourceforge.net/wiki/Tutorials [3] http://playerstage.sourceforge.net/doc/Player-svn/player/group__driver__ekfv map.html [4] http://playerstage.sourceforge.net/wiki/Getting_help |
From: LuizP <lm...@ho...> - 2011-07-07 18:40:58
|
If Anybody still have insights about ekfvloc driver, or how can I use it. Please reply.. I want to learn everything i can about this simulator. ;P Cheers. LuizP wrote: > > Hello Everyone, > > I'm working on a college project to use the EKF (Extended Kalman Filter) > to localize a robot on Player/Stage. > Recently on my research, i found the driver "ekfvloc" (available at: > http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) > And I managed to install it. > > But now i have no idea on how to use the information that this driver > generates. I'm still a begginner at Player/Stage implementations.. > > so.. Can anyone help me on telling What do I have to do to get the > information provided by this driver? > What and Where should I put the code, to use and get information from it? > What should I put on my main code to see the data provided by the driver. > > > Thanks, > B. Regards. > > - Luiz Pascoal > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32015572.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: alex <ale...@mo...> - 2011-07-13 12:51:14
|
LuizP wrote: > > If Anybody still have insights about ekfvloc driver, or how can I use it. > > Please reply.. I want to learn everything i can about this simulator. ;P > > Cheers. For these that are trying to use this driver, this might come in handy: at my github repos there are several test_* folders with ready-to-run examples. https://github.com/mosteo/ekfvloc IIRC, the configs were for an old stage version (the last that used 2d points, perhaps 2.1.1?) The vectors are oriented, that is, if you want a wall to be visible from both sides, that requires two segments with the endpoints given in reverse order. The driver accepts a graphics2d which can be used e.g. to show in stage the kalman filter uncertainty ellipse and perhaps some other debug info (laser, matches, ...). Debug data can be dumped to console by raising player debug level (-d). Alex. > > LuizP wrote: >> >> Hello Everyone, >> >> I'm working on a college project to use the EKF (Extended Kalman Filter) >> to localize a robot on Player/Stage. >> Recently on my research, i found the driver "ekfvloc" (available at: >> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >> And I managed to install it. >> >> But now i have no idea on how to use the information that this driver >> generates. I'm still a begginner at Player/Stage implementations.. >> >> so.. Can anyone help me on telling What do I have to do to get the >> information provided by this driver? >> What and Where should I put the code, to use and get information from it? >> What should I put on my main code to see the data provided by the driver. >> >> >> Thanks, >> B. Regards. >> >> - Luiz Pascoal >> > |
From: Piotr Z. <pio...@st...> - 2011-07-14 09:19:26
|
Thanks, helped me a lot, but I still have some problems. First of all, I'm quite sure that only the odometry measurements are being used to localize the robot. All the information from the laser seems to be ignored. For example, for quite a long time my robot drives through some empty space, not spotting anything with the laser. After, let's say, 60 metres, when the odometry error is so big, that the robot is expected to be completely somewhere else, it reaches a wall and keeps driving alongside of it, scanning the wall with the laser all the time. But the localize tool is still estimating the position incorrectly, not caring that in the place where he believes my robot to be there are absolutely no walls. My second question is - how to change odometry's starting position? I mean, when I change localization_origin parameter, the console output is: warning : Ekfvloc: Error: -62.000 0.000 0.000 But in Stage the graphical marker still starts from the (0,0,0) point. Thanks in advance Piotr alex-604 wrote: > > LuizP wrote: > >> >> If Anybody still have insights about ekfvloc driver, or how can I use it. >> >> Please reply.. I want to learn everything i can about this simulator. ;P >> >> Cheers. > > For these that are trying to use this driver, this might come in handy: at > my github repos there are several test_* folders with ready-to-run > examples. > > https://github.com/mosteo/ekfvloc > > IIRC, the configs were for an old stage version (the last that used 2d > points, perhaps 2.1.1?) > > The vectors are oriented, that is, if you want a wall to be visible from > both sides, that requires two segments with the endpoints given in reverse > order. > > The driver accepts a graphics2d which can be used e.g. to show in stage > the > kalman filter uncertainty ellipse and perhaps some other debug info > (laser, > matches, ...). > > Debug data can be dumped to console by raising player debug level (-d). > > Alex. > >> >> LuizP wrote: >>> >>> Hello Everyone, >>> >>> I'm working on a college project to use the EKF (Extended Kalman Filter) >>> to localize a robot on Player/Stage. >>> Recently on my research, i found the driver "ekfvloc" (available at: >>> > http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >>> And I managed to install it. >>> >>> But now i have no idea on how to use the information that this driver >>> generates. I'm still a begginner at Player/Stage implementations.. >>> >>> so.. Can anyone help me on telling What do I have to do to get the >>> information provided by this driver? >>> What and Where should I put the code, to use and get information from >>> it? >>> What should I put on my main code to see the data provided by the >>> driver. >>> >>> >>> Thanks, >>> B. Regards. >>> >>> - Luiz Pascoal >>> >> > > > > ------------------------------------------------------------------------------ > AppSumo Presents a FREE Video for the SourceForge Community by Eric > Ries, the creator of the Lean Startup Methodology on "Lean Startup > Secrets Revealed." This video shows you how to validate your ideas, > optimize your ideas and identify your business strategy. > http://p.sf.net/sfu/appsumosfdev2dev > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32059809.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: alex <ale...@mo...> - 2011-07-18 10:10:35
|
Piotr Zahorski wrote: > > Thanks, helped me a lot, but I still have some problems. > First of all, I'm quite sure that only the odometry measurements are being > used > to localize the robot. All the information from the laser seems to be > ignored. For example, for quite a long time my robot drives through some > empty space, not spotting anything with the laser. After, let's say, 60 > metres, when the odometry error is so big, that the robot is expected to > be completely somewhere else, it reaches a wall and keeps driving > alongside of it, scanning the wall with the laser all the time. But the > localize tool is still estimating the position incorrectly, not caring > that in the place where he believes my robot to be there are absolutely no > walls. I'm not sure I understand you here. However, the ekf algorithm performs some kind of screening of candidate features; if a segment is way off in its X coordinate it won't be matched. IIRC, this is not done "probabilistically" so no matter how big the uncertainty, a match is impossible. I don't understand the fine details of this, but is something that I came to realize while testing the implementation. In other words, you may have enormous uncertainty in the ekf, but still not match a feature you're seeing, which is counterintuitive (at least I thought that when you can be anywhere, you'll match anything you see, but that's not so). Perhaps some paper from the authors can shed some light on this. Another possibility is that the noise parameters for the ekf driver do not match reality (in this case stage noise?), in which case the localization might be too optimistic and reject matches that would be accepted otherwise. In my experience, this filter worked very well if you had most of the time something to match to fix the robot location along its X axis. Then you could relax the noise parameters and getting lost was almost impossible. Long times without any features, or only sideways features (like going down a smooth, long corridor without anything else) would require very careful tweaking of the noise settings, and you'd get lost anyway somewhat easily. > My second question is - how to change odometry's starting position? > I mean, when I change localization_origin parameter, the console output > is: > warning : Ekfvloc: Error: -62.000 0.000 0.000 > But in Stage the graphical marker still starts from the (0,0,0) point. > Thanks in advance Odometry should be captured by the ekfvloc driver automatically from the underlying position2d device, so I'm at a loss here. I'm assuming this position2d device does not "jump" after started. I would guess that somehow the localization kind of the stage model could be involved. IIRC, when giving "gps" the odometry does not start at origin but at the global coordinates (although this should not matter, per above, but...). Also the truth_model parameter for ekfvloc must match the stage model providing the ground truth. Hope some of this is of any help. Alex. > Piotr > > alex-604 wrote: >> >> LuizP wrote: >> >>> >>> If Anybody still have insights about ekfvloc driver, or how can I use >>> it. >>> >>> Please reply.. I want to learn everything i can about this simulator. ;P >>> >>> Cheers. >> >> For these that are trying to use this driver, this might come in handy: >> at my github repos there are several test_* folders with ready-to-run >> examples. >> >> https://github.com/mosteo/ekfvloc >> >> IIRC, the configs were for an old stage version (the last that used 2d >> points, perhaps 2.1.1?) >> >> The vectors are oriented, that is, if you want a wall to be visible from >> both sides, that requires two segments with the endpoints given in >> reverse order. >> >> The driver accepts a graphics2d which can be used e.g. to show in stage >> the >> kalman filter uncertainty ellipse and perhaps some other debug info >> (laser, >> matches, ...). >> >> Debug data can be dumped to console by raising player debug level (-d). >> >> Alex. >> >>> >>> LuizP wrote: >>>> >>>> Hello Everyone, >>>> >>>> I'm working on a college project to use the EKF (Extended Kalman >>>> Filter) to localize a robot on Player/Stage. >>>> Recently on my research, i found the driver "ekfvloc" (available at: >>>> >> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >>>> And I managed to install it. >>>> >>>> But now i have no idea on how to use the information that this driver >>>> generates. I'm still a begginner at Player/Stage implementations.. >>>> >>>> so.. Can anyone help me on telling What do I have to do to get the >>>> information provided by this driver? >>>> What and Where should I put the code, to use and get information from >>>> it? >>>> What should I put on my main code to see the data provided by the >>>> driver. >>>> >>>> >>>> Thanks, >>>> B. Regards. >>>> >>>> - Luiz Pascoal >>>> >>> >> >> >> >> ------------------------------------------------------------------------------ >> AppSumo Presents a FREE Video for the SourceForge Community by Eric >> Ries, the creator of the Lean Startup Methodology on "Lean Startup >> Secrets Revealed." This video shows you how to validate your ideas, >> optimize your ideas and identify your business strategy. >> http://p.sf.net/sfu/appsumosfdev2dev >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> >> > |
From: LuizP <lm...@ho...> - 2011-08-09 20:06:58
|
Hello Again! Piotr, i figured out that my cfg file was wrong in some parameters.. and also the driver vmapfile was working with grid mapping instead of vector. So when i changed my code to use the function mapfile, it worked better.. but i'm still having problem with the driver. The driver is not updating the information provided with the moviment of the robot. The robot keeps walking and collecting data, but when i try to retrieve the information, it is always the same (robot pose 0,0,0) .. but the information given by the stage driver is accurate. Can anyone help with that problem, and say what should I do to update the information given by the ekfvloc driver? Thanks Piotr Zahorski wrote: > > Thanks, helped me a lot, but I still have some problems. > First of all, I'm quite sure that only the odometry measurements are being > used > to localize the robot. All the information from the laser seems to be > ignored. For example, for quite a long time my robot drives through some > empty space, not spotting anything with the laser. After, let's say, 60 > metres, when the odometry error is so big, that the robot is expected to > be completely somewhere else, it reaches a wall and keeps driving > alongside of it, scanning the wall with the laser all the time. But the > localize tool is still estimating the position incorrectly, not caring > that in the place where he believes my robot to be there are absolutely no > walls. > My second question is - how to change odometry's starting position? I > mean, when I change localization_origin parameter, the console output is: > warning : Ekfvloc: Error: -62.000 0.000 0.000 > But in Stage the graphical marker still starts from the (0,0,0) point. > Next thing is about vmap tool. I managed to run the test-upc example, then > in playerv I activated subscribe&continuous update in Devices-> map0. My > question is - does this tool modify the map anyhow? Because I changed the > .vmp file that was declared in upc.cfg. As it was containing a data > completely not corresponding to the actual map, I was expecting player to > update it. But when I checked this file after making a quite long circuit, > nothing had been modified. Am I doing something wrong or simply this > driver doesn't make any online updates? > > Thanks in advance > Piotr > > alex-604 wrote: >> >> LuizP wrote: >> >>> >>> If Anybody still have insights about ekfvloc driver, or how can I use >>> it. >>> >>> Please reply.. I want to learn everything i can about this simulator. ;P >>> >>> Cheers. >> >> For these that are trying to use this driver, this might come in handy: >> at >> my github repos there are several test_* folders with ready-to-run >> examples. >> >> https://github.com/mosteo/ekfvloc >> >> IIRC, the configs were for an old stage version (the last that used 2d >> points, perhaps 2.1.1?) >> >> The vectors are oriented, that is, if you want a wall to be visible from >> both sides, that requires two segments with the endpoints given in >> reverse >> order. >> >> The driver accepts a graphics2d which can be used e.g. to show in stage >> the >> kalman filter uncertainty ellipse and perhaps some other debug info >> (laser, >> matches, ...). >> >> Debug data can be dumped to console by raising player debug level (-d). >> >> Alex. >> >>> >>> LuizP wrote: >>>> >>>> Hello Everyone, >>>> >>>> I'm working on a college project to use the EKF (Extended Kalman >>>> Filter) >>>> to localize a robot on Player/Stage. >>>> Recently on my research, i found the driver "ekfvloc" (available at: >>>> >> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >>>> And I managed to install it. >>>> >>>> But now i have no idea on how to use the information that this driver >>>> generates. I'm still a begginner at Player/Stage implementations.. >>>> >>>> so.. Can anyone help me on telling What do I have to do to get the >>>> information provided by this driver? >>>> What and Where should I put the code, to use and get information from >>>> it? >>>> What should I put on my main code to see the data provided by the >>>> driver. >>>> >>>> >>>> Thanks, >>>> B. Regards. >>>> >>>> - Luiz Pascoal >>>> >>> >> >> >> >> ------------------------------------------------------------------------------ >> AppSumo Presents a FREE Video for the SourceForge Community by Eric >> Ries, the creator of the Lean Startup Methodology on "Lean Startup >> Secrets Revealed." This video shows you how to validate your ideas, >> optimize your ideas and identify your business strategy. >> http://p.sf.net/sfu/appsumosfdev2dev >> _______________________________________________ >> Playerstage-users mailing list >> Pla...@li... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> >> > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32229237.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: LuizP <lm...@ho...> - 2011-08-09 20:17:47
|
Let me elaborate my question. On my main code, I created two position2Dproxy variables to get the information provided by the stage driver and the ekfvloc driver. I start making my robot walking through the map, and the information that I get from the Stage driver keeps being updated, but the data from the ekfvloc doesn't change, it's always 0,0,0. Can anyone tell me what to do to update the data provided by the ekfvloc driver? Cya. LuizP wrote: > > Hello Again! > > Piotr, i figured out that my cfg file was wrong in some parameters.. > and also the driver vmapfile was working with grid mapping instead of > vector. > So when i changed my code to use the function mapfile, it worked better.. > but i'm still having problem with the driver. > > The driver is not updating the information provided with the moviment of > the robot. > The robot keeps walking and collecting data, but when i try to retrieve > the information, it is always the same (robot pose 0,0,0) .. but the > information given by the stage driver is accurate. > > Can anyone help with that problem, and say what should I do to update the > information given by the ekfvloc driver? > > Thanks > > Piotr Zahorski wrote: >> >> Thanks, helped me a lot, but I still have some problems. >> First of all, I'm quite sure that only the odometry measurements are >> being used >> to localize the robot. All the information from the laser seems to be >> ignored. For example, for quite a long time my robot drives through some >> empty space, not spotting anything with the laser. After, let's say, 60 >> metres, when the odometry error is so big, that the robot is expected to >> be completely somewhere else, it reaches a wall and keeps driving >> alongside of it, scanning the wall with the laser all the time. But the >> localize tool is still estimating the position incorrectly, not caring >> that in the place where he believes my robot to be there are absolutely >> no walls. >> My second question is - how to change odometry's starting position? I >> mean, when I change localization_origin parameter, the console output is: >> warning : Ekfvloc: Error: -62.000 0.000 0.000 >> But in Stage the graphical marker still starts from the (0,0,0) point. >> Next thing is about vmap tool. I managed to run the test-upc example, >> then in playerv I activated subscribe&continuous update in Devices-> >> map0. My question is - does this tool modify the map anyhow? Because I >> changed the .vmp file that was declared in upc.cfg. As it was containing >> a data completely not corresponding to the actual map, I was expecting >> player to update it. But when I checked this file after making a quite >> long circuit, nothing had been modified. Am I doing something wrong or >> simply this driver doesn't make any online updates? >> >> Thanks in advance >> Piotr >> >> alex-604 wrote: >>> >>> LuizP wrote: >>> >>>> >>>> If Anybody still have insights about ekfvloc driver, or how can I use >>>> it. >>>> >>>> Please reply.. I want to learn everything i can about this simulator. >>>> ;P >>>> >>>> Cheers. >>> >>> For these that are trying to use this driver, this might come in handy: >>> at >>> my github repos there are several test_* folders with ready-to-run >>> examples. >>> >>> https://github.com/mosteo/ekfvloc >>> >>> IIRC, the configs were for an old stage version (the last that used 2d >>> points, perhaps 2.1.1?) >>> >>> The vectors are oriented, that is, if you want a wall to be visible from >>> both sides, that requires two segments with the endpoints given in >>> reverse >>> order. >>> >>> The driver accepts a graphics2d which can be used e.g. to show in stage >>> the >>> kalman filter uncertainty ellipse and perhaps some other debug info >>> (laser, >>> matches, ...). >>> >>> Debug data can be dumped to console by raising player debug level (-d). >>> >>> Alex. >>> >>>> >>>> LuizP wrote: >>>>> >>>>> Hello Everyone, >>>>> >>>>> I'm working on a college project to use the EKF (Extended Kalman >>>>> Filter) >>>>> to localize a robot on Player/Stage. >>>>> Recently on my research, i found the driver "ekfvloc" (available at: >>>>> >>> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >>>>> And I managed to install it. >>>>> >>>>> But now i have no idea on how to use the information that this driver >>>>> generates. I'm still a begginner at Player/Stage implementations.. >>>>> >>>>> so.. Can anyone help me on telling What do I have to do to get the >>>>> information provided by this driver? >>>>> What and Where should I put the code, to use and get information from >>>>> it? >>>>> What should I put on my main code to see the data provided by the >>>>> driver. >>>>> >>>>> >>>>> Thanks, >>>>> B. Regards. >>>>> >>>>> - Luiz Pascoal >>>>> >>>> >>> >>> >>> >>> ------------------------------------------------------------------------------ >>> AppSumo Presents a FREE Video for the SourceForge Community by Eric >>> Ries, the creator of the Lean Startup Methodology on "Lean Startup >>> Secrets Revealed." This video shows you how to validate your ideas, >>> optimize your ideas and identify your business strategy. >>> http://p.sf.net/sfu/appsumosfdev2dev >>> _______________________________________________ >>> Playerstage-users mailing list >>> Pla...@li... >>> https://lists.sourceforge.net/lists/listinfo/playerstage-users >>> >>> >> >> > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32229318.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: LuizP <lm...@ho...> - 2011-08-12 00:05:27
|
Hello Everyone Can anyone help me with the following error? mainTeste.cpp:(.text+0x973): undefined reference to `RobotLocation::RobotLocation(double, double, double)' mainTeste.cpp:(.text+0xc40): undefined reference to `RobotLocation::PrintState() const' mainTeste.cpp:(.text+0xdf5): undefined reference to `SegmentMap::~SegmentMap()' mainTeste.cpp:(.text+0xe04): undefined reference to `Transf::~Transf()' mainTeste.cpp:(.text+0xe13): undefined reference to `Transf::~Transf()' mainTeste.cpp:(.text+0xe22): undefined reference to `Uloc::~Uloc()' mainTeste.cpp:(.text+0xe2e): undefined reference to `Uloc::~Uloc()' mainTeste.cpp:(.text+0xe86): undefined reference to `Uloc::~Uloc()' mainTeste.cpp:(.text+0xea3): undefined reference to `Uloc::~Uloc()' mainTeste.cpp:(.text+0xec0): undefined reference to `Transf::~Transf()' mainTeste.cpp:(.text+0xedd): undefined reference to `Transf::~Transf()' What do I have to do to correct those errors. I guess that's all its missing to do .. to get the driver working. Thanks. LuizP wrote: > > Let me elaborate my question. > > On my main code, I created two position2Dproxy variables to get the > information provided by the stage driver and the ekfvloc driver. > > I start making my robot walking through the map, and the information that > I get from the Stage driver keeps being updated, but the data from the > ekfvloc doesn't change, it's always 0,0,0. > > Can anyone tell me what to do to update the data provided by the ekfvloc > driver? > > Cya. > > LuizP wrote: >> >> Hello Again! >> >> Piotr, i figured out that my cfg file was wrong in some parameters.. >> and also the driver vmapfile was working with grid mapping instead of >> vector. >> So when i changed my code to use the function mapfile, it worked better.. >> but i'm still having problem with the driver. >> >> The driver is not updating the information provided with the moviment of >> the robot. >> The robot keeps walking and collecting data, but when i try to retrieve >> the information, it is always the same (robot pose 0,0,0) .. but the >> information given by the stage driver is accurate. >> >> Can anyone help with that problem, and say what should I do to update the >> information given by the ekfvloc driver? >> >> Thanks >> >> Piotr Zahorski wrote: >>> >>> Thanks, helped me a lot, but I still have some problems. >>> First of all, I'm quite sure that only the odometry measurements are >>> being used >>> to localize the robot. All the information from the laser seems to be >>> ignored. For example, for quite a long time my robot drives through some >>> empty space, not spotting anything with the laser. After, let's say, 60 >>> metres, when the odometry error is so big, that the robot is expected to >>> be completely somewhere else, it reaches a wall and keeps driving >>> alongside of it, scanning the wall with the laser all the time. But the >>> localize tool is still estimating the position incorrectly, not caring >>> that in the place where he believes my robot to be there are absolutely >>> no walls. >>> My second question is - how to change odometry's starting position? I >>> mean, when I change localization_origin parameter, the console output >>> is: >>> warning : Ekfvloc: Error: -62.000 0.000 0.000 >>> But in Stage the graphical marker still starts from the (0,0,0) point. >>> Next thing is about vmap tool. I managed to run the test-upc example, >>> then in playerv I activated subscribe&continuous update in Devices-> >>> map0. My question is - does this tool modify the map anyhow? Because I >>> changed the .vmp file that was declared in upc.cfg. As it was containing >>> a data completely not corresponding to the actual map, I was expecting >>> player to update it. But when I checked this file after making a quite >>> long circuit, nothing had been modified. Am I doing something wrong or >>> simply this driver doesn't make any online updates? >>> >>> Thanks in advance >>> Piotr >>> >>> alex-604 wrote: >>>> >>>> LuizP wrote: >>>> >>>>> >>>>> If Anybody still have insights about ekfvloc driver, or how can I use >>>>> it. >>>>> >>>>> Please reply.. I want to learn everything i can about this simulator. >>>>> ;P >>>>> >>>>> Cheers. >>>> >>>> For these that are trying to use this driver, this might come in handy: >>>> at >>>> my github repos there are several test_* folders with ready-to-run >>>> examples. >>>> >>>> https://github.com/mosteo/ekfvloc >>>> >>>> IIRC, the configs were for an old stage version (the last that used 2d >>>> points, perhaps 2.1.1?) >>>> >>>> The vectors are oriented, that is, if you want a wall to be visible >>>> from >>>> both sides, that requires two segments with the endpoints given in >>>> reverse >>>> order. >>>> >>>> The driver accepts a graphics2d which can be used e.g. to show in stage >>>> the >>>> kalman filter uncertainty ellipse and perhaps some other debug info >>>> (laser, >>>> matches, ...). >>>> >>>> Debug data can be dumped to console by raising player debug level (-d). >>>> >>>> Alex. >>>> >>>>> >>>>> LuizP wrote: >>>>>> >>>>>> Hello Everyone, >>>>>> >>>>>> I'm working on a college project to use the EKF (Extended Kalman >>>>>> Filter) >>>>>> to localize a robot on Player/Stage. >>>>>> Recently on my research, i found the driver "ekfvloc" (available at: >>>>>> >>>> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_id=42445&atid=433166) >>>>>> And I managed to install it. >>>>>> >>>>>> But now i have no idea on how to use the information that this driver >>>>>> generates. I'm still a begginner at Player/Stage implementations.. >>>>>> >>>>>> so.. Can anyone help me on telling What do I have to do to get the >>>>>> information provided by this driver? >>>>>> What and Where should I put the code, to use and get information from >>>>>> it? >>>>>> What should I put on my main code to see the data provided by the >>>>>> driver. >>>>>> >>>>>> >>>>>> Thanks, >>>>>> B. Regards. >>>>>> >>>>>> - Luiz Pascoal >>>>>> >>>>> >>>> >>>> >>>> >>>> ------------------------------------------------------------------------------ >>>> AppSumo Presents a FREE Video for the SourceForge Community by Eric >>>> Ries, the creator of the Lean Startup Methodology on "Lean Startup >>>> Secrets Revealed." This video shows you how to validate your ideas, >>>> optimize your ideas and identify your business strategy. >>>> http://p.sf.net/sfu/appsumosfdev2dev >>>> _______________________________________________ >>>> Playerstage-users mailing list >>>> Pla...@li... >>>> https://lists.sourceforge.net/lists/listinfo/playerstage-users >>>> >>>> >>> >>> >> >> > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32246371.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: LuizP <lm...@ho...> - 2011-07-08 17:20:22
|
Thanks for your reply Rich. That was very helpfull. Cheers. Rich Mattes-2 wrote: > >> -----Original Message----- >> From: LuizP [mailto:lm...@ho...] >> Sent: Thursday, July 07, 2011 1:38 PM >> To: pla...@li... >> Subject: [Playerstage-users] How to Use the Driver ekfvloc. >> >> >> Hello Everyone, >> >> I'm working on a college project to use the EKF (Extended Kalman >> Filter) to >> localize a robot on Player/Stage. >> Recently on my research, i found the driver "ekfvloc" (available at: >> http://sourceforge.net/tracker/index.php?func=detail&aid=2948635&group_ >> id=42445&atid=433166) >> And I managed to install it. >> >> But now i have no idea on how to use the information that this driver >> generates. I'm still a begginner at Player/Stage implementations.. >> >> so.. Can anyone help me on telling What do I have to do to get the >> information provided by this driver? >> What and Where should I put the code, to use and get information from >> it? >> What should I put on my main code to see the data provided by the >> driver. >> >> >> Thanks, >> B. Regards. >> >> - Luiz Pascoal > > For starters, this patch was applied to the trunk version of Player, so it > should be included if you downloaded the code from SVN (it will probably > removed in the future though, it includes a matrix header with a non-free > license that is incompatible with the rest of Player). > > If you're new to Player, please start by looking at Player > documentation[1] > and tutorials[2] to get a feel for how to run Player, write configuration > files, etc. Any help you get from the mailing lists isn't going to be > very > useful if you don't understand the basic terminology or procedures. > > Once you get a feel for Player, have a look at the driver documentation[3] > for the ekfvmap driver (also located in the patch you've attached.) It > has > a sample configuration setup, and descriptions of all of the parameters. > Try setting up a configuration with Stage or with your robot and see if > you > can get the driver to work. One important thing to note is that you'll > need > a vectormap of the area you're trying to localize in before you start. It > looks like the driver can use the map interface to read one from another > driver (like vmapfile), or it can load vectors from a file on its own. > > To see output from the driver, you can use Player's utilities like playerv > and playerprint, or you can access the interfaces from your own programs > using the Player client libraries (info on these is in the tutorials and > documentation, and examples are in the Player source). > > Once you do all of this, if you have specific questions or issues, please > feel free to reply to the list with a description of your problem, what > you've tried, etc (see [4] for details). > > Rich > > [1] http://playerstage.sourceforge.net/doc/Player-svn/player/index.html > [2] http://playerstage.sourceforge.net/wiki/Tutorials > [3] > http://playerstage.sourceforge.net/doc/Player-svn/player/group__driver__ekfv > map.html > [4] http://playerstage.sourceforge.net/wiki/Getting_help > > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32023173.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: LuizP <lm...@ho...> - 2011-07-11 02:34:41
|
Hello Again Guys. Thanks to Rich's reply i was able to understand a bit more how Player works, and successfully installed the driver ekfvloc on my Player/Stage, but now I'm getting the following different error: " player: /home/luizpascoal/playersrc/server/drivers/localization/ekfvloc/localize.cc:100: bool Localize::Update(double, double, double, DoublesVector, DoublesVector): Assertion `!robot_.map().IsEmpty()' failed. Aborted " And my simulation screen shuts down immediately. Here is my configuration code: driver ( name "stage" provides [ "simulation:0" ] plugin "stageplugin" # load the named file into the simulator worldfile "branco.world" ) # Create a Stage driver and attach position2d and laser interfaces # to the model "r0" driver ( name "stage" provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0" "graphics3d:0" ] model "r0" ) driver ( name "vmapfile" provides ["map:0"] filename "branco.world" scale [1.0 1.0] ) driver ( name "ekfvloc" provides ["position2d:1" "localize:0" "covariance:::0"] requires ["position2d:0" "laser:0" "map:0"] max_laser_range 31.9 laser_noise [0.004 0.5] odom_noise [0.4 0.2 10] robot_pose [-7 -7 0] robot_pose_initial_error [1.0 1.0 20] # mapfile "upc.vec" # Use either "requires" or "mapfile" #truth_model "robot" ) if there's anything wrong with it, please let me know.. so i can fix it. Appreciate, Luiz -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32034565.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Rich M. <jp...@gm...> - 2011-07-11 03:48:23
|
On 7/10/2011 10:34 PM, LuizP wrote: > Hello Again Guys. > > Thanks to Rich's reply i was able to understand a bit more how Player works, > and successfully installed the driver ekfvloc on my Player/Stage, but now > I'm getting the following different error: > > " player: > /home/luizpascoal/playersrc/server/drivers/localization/ekfvloc/localize.cc:100: > bool Localize::Update(double, double, double, DoublesVector, DoublesVector): > Assertion `!robot_.map().IsEmpty()' failed. > Aborted " > > And my simulation screen shuts down immediately. > > Here is my configuration code: > > driver > ( > name "stage" > provides [ "simulation:0" ] > plugin "stageplugin" > > # load the named file into the simulator > worldfile "branco.world" > ) > > # Create a Stage driver and attach position2d and laser interfaces > # to the model "r0" > driver > ( > name "stage" > provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0" > "graphics3d:0" ] > model "r0" > ) > > driver > ( > name "vmapfile" > provides ["map:0"] > filename "branco.world" > scale [1.0 1.0] > ) > > driver > ( > name "ekfvloc" > provides ["position2d:1" "localize:0" "covariance:::0"] > requires ["position2d:0" "laser:0" "map:0"] > > max_laser_range 31.9 > laser_noise [0.004 0.5] > odom_noise [0.4 0.2 10] > robot_pose [-7 -7 0] > robot_pose_initial_error [1.0 1.0 20] > # mapfile "upc.vec" > # Use either "requires" or "mapfile" > > #truth_model "robot" > ) > > if there's anything wrong with it, please let me know.. so i can fix it. > > Appreciate, Luiz A world file is not a valid vectormap for the vmapfile driver. vmapfile wants a text file with the numerical values x0 y0 x1 y1 on each line (in meters). Each line of the file defines two-point vector, and all of them together form the map. Rich |
From: LuizP <lm...@ho...> - 2011-07-11 16:08:45
|
Thanks for your help Rich, I looked over the forum and player/stage website.. and i couldn't find a way to make a text file from images files, such as png or bitmap. I know vmapfile supports the format .wld, but how can I turn the map I built (.png or bitmap) into the format that's accepted by vmapfile? Thanks. Rich Mattes-2 wrote: > > On 7/10/2011 10:34 PM, LuizP wrote: >> Hello Again Guys. >> >> Thanks to Rich's reply i was able to understand a bit more how Player >> works, >> and successfully installed the driver ekfvloc on my Player/Stage, but now >> I'm getting the following different error: >> >> " player: >> /home/luizpascoal/playersrc/server/drivers/localization/ekfvloc/localize.cc:100: >> bool Localize::Update(double, double, double, DoublesVector, >> DoublesVector): >> Assertion `!robot_.map().IsEmpty()' failed. >> Aborted " >> >> And my simulation screen shuts down immediately. >> >> Here is my configuration code: >> >> driver >> ( >> name "stage" >> provides [ "simulation:0" ] >> plugin "stageplugin" >> >> # load the named file into the simulator >> worldfile "branco.world" >> ) >> >> # Create a Stage driver and attach position2d and laser interfaces >> # to the model "r0" >> driver >> ( >> name "stage" >> provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0" >> "graphics3d:0" ] >> model "r0" >> ) >> >> driver >> ( >> name "vmapfile" >> provides ["map:0"] >> filename "branco.world" >> scale [1.0 1.0] >> ) >> >> driver >> ( >> name "ekfvloc" >> provides ["position2d:1" "localize:0" "covariance:::0"] >> requires ["position2d:0" "laser:0" "map:0"] >> >> max_laser_range 31.9 >> laser_noise [0.004 0.5] >> odom_noise [0.4 0.2 10] >> robot_pose [-7 -7 0] >> robot_pose_initial_error [1.0 1.0 20] >> # mapfile "upc.vec" >> # Use either "requires" or "mapfile" >> >> #truth_model "robot" >> ) >> >> if there's anything wrong with it, please let me know.. so i can fix it. >> >> Appreciate, Luiz > A world file is not a valid vectormap for the vmapfile driver. vmapfile > wants a text file with the numerical values x0 y0 x1 y1 on each line (in > meters). Each line of the file defines two-point vector, and all of > them together form the map. > > Rich > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32038845.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Rich M. <jp...@gm...> - 2011-07-11 20:57:51
|
> -----Original Message----- > From: LuizP [mailto:lm...@ho...] > Sent: Monday, July 11, 2011 12:09 PM > To: pla...@li... > Subject: Re: [Playerstage-users] How to Use the Driver ekfvloc. > > > Thanks for your help Rich, > > I looked over the forum and player/stage website.. > and i couldn't find a way to make a text file from images files, such > as > png or bitmap. > > I know vmapfile supports the format .wld, but how can I turn the map I > built > (.png or bitmap) into the format that's accepted by vmapfile? > > Thanks. > Conversion between bitmaps and vectormaps would be very nice, but I don't believe any utility exists to convert bitmaps to vectormaps with Player. Indeed, there are not many drivers that use vectormaps, so I don't think it gets a lot of attention compared to gridmaps. There are many raster to vector algorithms floating around, if you think that it's a worthwhile use of your time to code something up. If not, you can always manually specify the vectors if your map isn't too complex. Rich |
From: LuizP <lm...@ho...> - 2011-07-11 22:43:49
|
Hello everyone! Thanks for your reply Rich, I was doing some better research about the wld extension, and i found a software that allows you to create your map, and it generates the bitmap or the wld format of the same image.. It's been really helpfull, here is the website to download it, along with some examples of mapping on Stage http://www.skynet.ie/~sos/mapviewer/main.php Cya. Rich Mattes-2 wrote: > >> -----Original Message----- >> From: LuizP [mailto:lm...@ho...] >> Sent: Monday, July 11, 2011 12:09 PM >> To: pla...@li... >> Subject: Re: [Playerstage-users] How to Use the Driver ekfvloc. >> >> >> Thanks for your help Rich, >> >> I looked over the forum and player/stage website.. >> and i couldn't find a way to make a text file from images files, such >> as >> png or bitmap. >> >> I know vmapfile supports the format .wld, but how can I turn the map I >> built >> (.png or bitmap) into the format that's accepted by vmapfile? >> >> Thanks. >> > > Conversion between bitmaps and vectormaps would be very nice, but I don't > believe any utility exists to convert bitmaps to vectormaps with Player. > Indeed, there are not many drivers that use vectormaps, so I don't think > it > gets a lot of attention compared to gridmaps. There are many raster to > vector algorithms floating around, if you think that it's a worthwhile use > of your time to code something up. If not, you can always manually > specify > the vectors if your map isn't too complex. > > Rich > > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32042013.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Piotr Z. <pio...@st...> - 2011-07-12 09:38:14
|
Hello, I've read the whole topic and your explanation helped me a lot, but still not everything is clear to me. What exactly should this file contain? I suppose that not only a set of x0 y0 x1 y1 lines (or does it?) but also some kind of a header, as described http://playerstage.sourceforge.net/doc/Player-svn/player/structplayer__map__data__vector.html#a6b3cb94808027c58caaef723a7256938 here . Unfortunately, I'm not able to set all those minx, maxy... values correctly. Is there anything else that should be written in this file? What extension should it have - .wld, .mvm, something else, or doesn't matter? Could any of you, please, give an example of a working vector map file? Thanks in advance Rich Mattes-2 wrote: > > On 7/10/2011 10:34 PM, LuizP wrote: >> Hello Again Guys. > >> Thanks to Rich's reply i was able to understand a bit more how Player >> works, >> and successfully installed the driver ekfvloc on my Player/Stage, but now >> I'm getting the following different error: >> >> " player: >> /home/luizpascoal/playersrc/server/drivers/localization/ekfvloc/localize.cc:100: >> bool Localize::Update(double, double, double, DoublesVector, >> DoublesVector): >> Assertion `!robot_.map().IsEmpty()' failed. >> Aborted " >> >> And my simulation screen shuts down immediately. >> >> Here is my configuration code: >> >> driver >> ( >> name "stage" >> provides [ "simulation:0" ] >> plugin "stageplugin" >> >> # load the named file into the simulator >> worldfile "branco.world" >> ) >> >> # Create a Stage driver and attach position2d and laser interfaces >> # to the model "r0" >> driver >> ( >> name "stage" >> provides [ "position2d:0" "laser:0" "speech:0" "graphics2d:0" >> "graphics3d:0" ] >> model "r0" >> ) >> >> driver >> ( >> name "vmapfile" >> provides ["map:0"] >> filename "branco.world" >> scale [1.0 1.0] >> ) >> >> driver >> ( >> name "ekfvloc" >> provides ["position2d:1" "localize:0" "covariance:::0"] >> requires ["position2d:0" "laser:0" "map:0"] >> >> max_laser_range 31.9 >> laser_noise [0.004 0.5] >> odom_noise [0.4 0.2 10] >> robot_pose [-7 -7 0] >> robot_pose_initial_error [1.0 1.0 20] >> # mapfile "upc.vec" >> # Use either "requires" or "mapfile" >> >> #truth_model "robot" >> ) >> >> if there's anything wrong with it, please let me know.. so i can fix it. >> >> Appreciate, Luiz > A world file is not a valid vectormap for the vmapfile driver. vmapfile > wants a text file with the numerical values x0 y0 x1 y1 on each line (in > meters). Each line of the file defines two-point vector, and all of > them together form the map. > > Rich > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32044493.html Sent from the playerstage-users mailing list archive at Nabble.com. |
From: Rich M. <jp...@gm...> - 2011-07-12 13:48:39
|
> -----Original Message----- > From: Piotr Zahorski [mailto:pio...@st...] > Sent: Tuesday, July 12, 2011 5:38 AM > To: pla...@li... > Subject: Re: [Playerstage-users] How to Use the Driver ekfvloc. > > > Hello, > I've read the whole topic and your explanation helped me a lot, but > still > not everything is clear to me. What exactly should this file contain? I > suppose that not only a set of x0 y0 x1 y1 lines (or does it?) but No, that's really all it's looking for. I had a look at the code[1], all it does is parse lines containing four floats. > also > some kind of a header, as described > http://playerstage.sourceforge.net/doc/Player- > svn/player/structplayer__map__data__vector.html#a6b3cb94808027c58caaef7 > 23a7256938 > here . Unfortunately, I'm not able to set all those minx, maxy... > values The driver should be setting the min/max values as it reads through the map file. Those values don't really need to be set explicitly by the user, they're easy to determine from the vectors. > correctly. Is there anything else that should be written in this file? > What > extension should it have - .wld, .mvm, something else, or doesn't > matter? The file extension doesn't matter. The driver will open whatever file you point it at. > Could any of you, please, give an example of a working vector map file? > Thanks in advance > Unfortunately I don't have an example of a file, but a text file with four values on each line should suffice. The driver isn't very well documented as to the expected map format, but I think I can add some more information to it. Rich [1] http://playerstage.svn.sourceforge.net/viewvc/playerstage/code/player/trunk/ server/drivers/map/vmapfile.cc?revision=8816&view=markup |
From: Piotr Z. <pio...@st...> - 2011-07-13 07:40:07
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Thanks for your response, I managed to run ekfvlog, but I'm not quite sure if it's working properly. My .cfg file is just like LuizP's one, I changed my map file according to your advices. Player starts without problems. When I run playerv there are some new devices avalible: map:0(vmapfile), position2d:1(ekfvloc) and localize:0(ekfvloc). When I activate map (subscribe & continous update) such : map draw playerc error : got NACK from request playerc error : failed to get map info message appears in terminal once a second. Turning on localize (subscribe & show particles) makes the computer work really slowly. The message I get is: playerc error : got NACK from request playerc error : got NACK from request playerc error : timed out waiting for server reply to request localize:0:request:2 playerc error : timed out waiting for server reply to request localize:0:request:2 playerc error : timed out waiting for server reply to request localize:0:request:2 playerc error : timed out waiting for server reply to request localize:0:request:2 playerc error : got NACK from request and finally after like ten seconds program crashes with a segmentation fault error. Activating position2d:1 (show values & subscribe) causes that some information on pose and velocity is shown, but it's updated every 10-15 s (instead of a few times a second, like position2d:0). Moreover, results seem to be too good to come from odometry&laser measurements. In fact, they seem to be the same data that position2d:0 provides, but translated. Could you please tell me how do I recognize that my ekfvloc driver works properly? And how to make use of it. Is it possible to make the driver write his current estimated position to a log - like writelog driver does? Bye Piotr Rich Mattes-2 wrote: > >> -----Original Message----- >> From: Piotr Zahorski [mailto:pio...@st...] >> Sent: Tuesday, July 12, 2011 5:38 AM >> To: pla...@li... >> Subject: Re: [Playerstage-users] How to Use the Driver ekfvloc. >> >> >> Hello, >> I've read the whole topic and your explanation helped me a lot, but >> still >> not everything is clear to me. What exactly should this file contain? I >> suppose that not only a set of x0 y0 x1 y1 lines (or does it?) but > > No, that's really all it's looking for. I had a look at the code[1], all > it > does is parse lines containing four floats. > >> also >> some kind of a header, as described >> http://playerstage.sourceforge.net/doc/Player- >> svn/player/structplayer__map__data__vector.html#a6b3cb94808027c58caaef7 >> 23a7256938 >> here . Unfortunately, I'm not able to set all those minx, maxy... >> values > > The driver should be setting the min/max values as it reads through the > map > file. Those values don't really need to be set explicitly by the user, > they're easy to determine from the vectors. > >> correctly. Is there anything else that should be written in this file? >> What >> extension should it have - .wld, .mvm, something else, or doesn't >> matter? > > The file extension doesn't matter. The driver will open whatever file you > point it at. > >> Could any of you, please, give an example of a working vector map file? >> Thanks in advance >> > > Unfortunately I don't have an example of a file, but a text file with four > values on each line should suffice. The driver isn't very well documented > as to the expected map format, but I think I can add some more information > to it. > > Rich > > [1] > http://playerstage.svn.sourceforge.net/viewvc/playerstage/code/player/trunk/ > server/drivers/map/vmapfile.cc?revision=8816&view=markup > > > ------------------------------------------------------------------------------ > All of the data generated in your IT infrastructure is seriously valuable. > Why? It contains a definitive record of application performance, security > threats, fraudulent activity, and more. Splunk takes this data and makes > sense of it. IT sense. And common sense. > http://p.sf.net/sfu/splunk-d2d-c2 > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/How-to-Use-the-Driver-ekfvloc.-tp32015261p32051556.html Sent from the playerstage-users mailing list archive at Nabble.com. |