Hello.
I am a student working with a Pioneer P3-DX. I have a working simulation
using player and stage. After moving the robot using the program below,
the robot gives a valid reading of GetXPos() in the same program.However,
when this program is exited and another program queries GetXPos(), the
result is always zero with P3-DX. However, the simulation with stage works
fine. Kindly Help.
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#include <iostream>
#include<stdio.h>
#include<stdlib.h>
#include <libplayerc++/playerc++.h>
int
main(int argc, char *argv[])
{
using namespace PlayerCc;
PlayerClient robot("localhost");
Position2dProxy pp(&robot,1/*PLAYER_OPEN_MODE*/);
float x=atof(argv[1]),y=atof(argv[2]),a=atof(argv[3]);
robot.StartThread();
robot.Read();
pp.RequestGeom();
std::cout<<"X y t"<<pp.GetXPos()<<" "<<pp.GetYPos()<<" "<<pp.GetYaw();
pp.SetOdometry(x,y,a);
robot.StopThread();
}
-----------------------------------------------------------------------------------------------------------------------------------
my config file:
driver
(
name "p2os"
provides ["odometry:::position2d:0" "sonar:0"]
port "/dev/ttyUSB0"
)
driver
(
name "sicklms200"
provides ["laser:0" ]
port "/dev/ttyUSB1"
resolution 50
serial_high_speed_mode 1
serial_high_speed_baudremap 230400
transfer_rate 38400
connect_rate [9600 500000 38400]
retry 2
alwayson 1
)
driver
(
name "vfh"
provides ["6665:position2d:1"]
requires ["odometry::6665:position2d:0" "6665:laser:0" ]
safety_distance 0.1
)
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