Hi,
I am using the the example pioneer2dx.world and pioneer2dx.model and the
attached player.cfg file. The pioneer model is not working together with
the playernav, the robot has a really strange behaviour. What could be
the problems? Odometry errors? switched coordinate frames?
Thanks for any help.
Regards
Andreas
driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0"]
gz_id "pioneer2dx_model1::position_iface_0"
)
driver
(
name "gazebo"
provides ["laser:0"]
gz_id "pioneer2dx_model1::laser::laser_iface_0"
)
driver
(
name "mapfile"
provides ["map:0"]
filename "/home/vogt/stage/worlds/bitmaps/cave.png"
resolution 0.05
)
driver
(
name "vfh"
provides ["position2d:1"]
requires ["position2d:0" "laser:0"]
# safety_dist 0.1
safety_dist_1ms 0.1
max_speed 0.2
min_turnrate 15
max_turnrate_0ms 40
max_turnrate_1ms 40
distance_epsilon 0.3
angle_epsilon 5
)
driver
(
name "amcl"
provides ["localize:0" "position2d:2"]
requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
#init_pose [-3.900 -8.288 -2.105]
laser_max_beams 10
laser_range_max 4.095
laser_range_bad 0.2
)
#
#driver
#(
# name "amcl"
# provides ["localize:0"]
# requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]
#)
driver
(
name "wavefront"
provides ["planner:0"]
requires ["output:::position2d:1" "input:::position2d:2" "map:0"]
safety_dist 0.15
distance_epsilon 0.3
angle_epsilon 10
)
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