Revision: 7601
http://playerstage.svn.sourceforge.net/playerstage/?rev=7601&view=rev
Author: gbiggs
Date: 2009-04-17 01:28:18 +0000 (Fri, 17 Apr 2009)
Log Message:
-----------
Applied patch #2767910
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/mricp/README
code/player/trunk/server/drivers/mixed/mricp/stage_test/stage_mricp.cfg
Modified: code/player/trunk/server/drivers/mixed/mricp/README
===================================================================
--- code/player/trunk/server/drivers/mixed/mricp/README 2009-04-17 01:25:16 UTC
(rev 7600)
+++ code/player/trunk/server/drivers/mixed/mricp/README 2009-04-17 01:28:18 UTC
(rev 7601)
@@ -1,36 +1,20 @@
This is the MRICP driver for player/stage.
-This Driver is used as a localizer and Occupancy Grid Map Builder using simple
Bayesian
-Probability Update. It uses Iterative Closest Point method to allign laser
scans and estimate
+This Driver is used as a localizer and Occupancy Grid Map Builder using simple
Bayesian
+Probability Update. It uses Iterative Closest Point method to align laser
scans and estimate
the change of pose.
-COMPILATION
-
-- pk-config should have the player package pointing to the libs and cflags
-- Use the make file script to compile the driver and generate the shared
object "MrIcpDriver.so"
-
-"make"
-
-to install, copy MrIcpDriver.so to /usr/local/lib/
-or
-create a symbolic link where you're running your configuration file
- ln -s MRICP_PATH/MrIcpDriver.so
-where MRICP_PATH is the path where the mricp driver is compiled
-
USE
-The file "amigo_mricp.cfg" provides an example of driver use for an
-amigo (or pioneer) robot with a mounted Hokuyo URG laser.
-
-The driver requires at least one laser interface, and optionally a position
-interface (the latter is required if you actually want to drive the
-robot via this driver). The driver provides a position interface which
-returns the position of the robot in the current patch as calculated by
+The driver requires at least one laser interface, and optionally a position
+interface (the latter is required if you actually want to drive the
+robot via this driver). The driver provides a position interface which
+returns the position of the robot in the current patch as calculated by
mricp.
Specifications / Operation
-- Upon start, the driver initializes the initial pose to [0 0 0] m,m,rd
-- When the driver recieves a PLAYER_POSITION_RESET_ODOM_REQ configuration
+- Upon start, the driver initializes the initial pose to [0 0 0] m,m,rd
+- When the driver recieves a PLAYER_POSITION_RESET_ODOM_REQ configuration
request, it:
1- Saves the current map patch and starts a new one.
2- Raves the pose of the new patch in respect to the old one.
@@ -43,7 +27,7 @@
- The driver computes the Occupancy Grid using Bayesian probability update. It
computes
the uncertainty in the sensor readings and uses the prior knowledge of each
cell to get
- the postirior (new estimation) of the cells state.
+ the posterior (new estimation) of the cells state.
|********************|
| CONFIG PARAMETERS |
@@ -58,16 +42,16 @@
- Minimium Laser Range
- period (double)
- Default: "0.1"
- - Time in sec defining how frequently to grab laser scans
- for scan matching. It is not a good idea to use maximum scans available on
a SICK.
+ - Time in sec defining how frequently to grab laser scans
+ for scan matching. It is not a good idea to use maximum scans available on
a SICK.
0.1 to 0.2 works well depending on robot turnrate and speed.
- map_resolution (double)
- Default: "0.05"
- - Pixel resolution in meter of the map to be build , a number close to the
laser
+ - Pixel resolution in meter of the map to be build , a number close to the
laser
precision is wise.
- map_size (double)
- Default: 20
- - This is defined from the origin to the boundary, so is actually half the
size of the
+ - This is defined from the origin to the boundary, so is actually half the
size of the
map PATCH, not the whole map.
- interpolate (bool)
- Default "1"
@@ -82,7 +66,7 @@
- Default "0.05"
- 2nd data association gate for each point in scan
- debug (bool)
- - Defult: 0
+ - Defult: 0
- Display Debug Messeges
- Log (bool)
- Default: 0
@@ -90,7 +74,6 @@
- map_path(string)
- Default: "maps/"
- Specifies the locations where patches and logs are to be saved,
- (make sure the directory exists)
- start_in(int)
- Default : 2
- Delay Before starting, unit is in seconds
@@ -101,40 +84,39 @@
- Default : 1
- The number of lasers to be used in the scan matching (index starts from 0)
all lasers
should be declared in the requires section
-...@par Example
+...@par Example
@verbatim
driver
(
- name "MRICP_Driver"
- requires ["position:0" "laser:0"]
- provides ["position:1" "opaque:0" "map:0"]
- plugin "MRICP.so"
- MINR 0.05
+ name "mricp"
+ provides ["position2d:1" "map:0"]
+ requires ["position2d:0" "laser:0"]
+ number_of_lasers 1
+ laser0_ranges [-120 120]
+ playerv_debug 0
+ period 0.2
MAXR 3.9
- period 1
- map_resolution 0.6
- map_path maps/
- number_of_lasers 2
- start_in 1
- interpolate 0
- robot_id 1
- NIT 15
+ MINR 0.05
+ map_resolution 0.05
+ map_saving_period 5
+ map_size 10
+ use_max_range 4
+ sparse_scans_rate 3
+ map_path "logs/"
+ debug 0
+ alwayson 1
log 1
)
|****************|
| STAGE TESTING |
|****************|
-- The directory stage_test contains a stage configuration for testing
+- The directory stage_test contains a stage configuration for testing
mricp. Simply run:
"player stage_mricp.cfg"
-- Also in the stage_test directory is a simple client program, which
- controls a robot with arrow keys and sends
- PLAYER_POSITION_RESET_ODOM_REQ configuration requests when the "c" key
- is pressed. Compile this utility with the "./compile_tclient" command.
-- To test multiple laser support, modify the world file and add X laser models
+- To test multiple laser support, modify the world file and add X laser models
to your robot (X is the number of lasers). Then modify your configuration
file
so that stage provides that X laser interfaces.
Note: Laser pose is essential for the Mricp to work, specify the correct
laser
@@ -162,9 +144,9 @@
pose [-0.10 0.15 -180 ]
)
# extend the wheelchair definition from wheelchair.inc
-
+
wheelchair
- (
+ (
name "robot"
pose [14.2 -4.6 180]
sicklaser1()
@@ -172,10 +154,10 @@
)
and your configuration should contain something like:
driver
- (
+ (
name "stage"
provides ["position:0" "laser:0" "laser:1"]
- model "robot"
+ model "robot"
)
driver
(
@@ -195,5 +177,5 @@
)
JP 21/4/06
-modified
+modified
TT 16/5/06
Modified:
code/player/trunk/server/drivers/mixed/mricp/stage_test/stage_mricp.cfg
===================================================================
--- code/player/trunk/server/drivers/mixed/mricp/stage_test/stage_mricp.cfg
2009-04-17 01:25:16 UTC (rev 7600)
+++ code/player/trunk/server/drivers/mixed/mricp/stage_test/stage_mricp.cfg
2009-04-17 01:28:18 UTC (rev 7601)
@@ -2,17 +2,17 @@
driver
(
name "stage"
- plugin "libstageplugin"
+ plugin "stageplugin"
provides ["simulation:0"]
worldfile "rescue.world"
)
# robot 1
driver
-(
+(
name "stage"
provides ["position2d:0" "laser:0"]
- model "robot"
+ model "robot"
)
driver
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