Regarding the laser scale problem, I had the same porblem before. I
guess that you have set the laser range to be more then 8 meters (the
default). If you do that the scale changes for some reason. there is an
other parameter that you can set also (the scale) set it to 1 and it
should work.
My laser sensor is set up like below. I hope that helps.
About the other problems I do not know
/Peter
<sensor:ray name="laser_1">
<rayCount>180</rayCount>
<rangeCount>181</rangeCount>
<origin>0.05 0.0 0</origin>
<displayRays>lines</displayRays>
<minAngle>-90</minAngle>
<maxAngle>90</maxAngle>
<minRange>0.1</minRange>
<maxRange>80</maxRange>
<resRange>1</resRange>
<controller:sicklms200_laser name="laser_controller_1">
<interface:laser name="laser_iface_0"/>
<interface:fiducial name="fiducial_iface_0"/>
</controller:sicklms200_laser>
</sensor:ray>
Andreas Vogt wrote:
> Sorry for this Late answer but i had big trouble with your mailing
> list. Strange behavoir means it doesent work, the robot turns left and
> right and again give some speed but never reach the Goal.
> I found out that the laser scans are not correct and the orientation
> is not correct. This means in playerv the scans have a wrong scale and
> the scanner is in the second and third part of the coordinate Frame
> Any idea
> Andreas
>
>
>
> Am 28.10.2009 um 18:12 schrieb Nate Koenig <[email protected]>:
>
>
>> Hello,
>>
>> Could you describe the strange behavior?
>>
>> -nate
>>
>> On Mon, Oct 5, 2009 at 12:26 AM, Andreas Vogt
>> <[email protected]> wrote:
>>
>>> 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
>>> )
>>>
>>> ---
>>> ---
>>> ---
>>> ---------------------------------------------------------------------
>>> Come build with us! The BlackBerry(R) Developer Conference in SF, CA
>>> is the only developer event you need to attend this year. Jumpstart
>>> your
>>> developing skills, take BlackBerry mobile applications to market
>>> and stay
>>> ahead of the curve. Join us from November 9 - 12, 2009. Register now!
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>>>
>>>
>>>
>> ---
>> ---
>> ---
>> ---------------------------------------------------------------------
>> Come build with us! The BlackBerry(R) Developer Conference in SF, CA
>> is the only developer event you need to attend this year. Jumpstart
>> your
>> developing skills, take BlackBerry mobile applications to market and
>> stay
>> ahead of the curve. Join us from November 9 - 12, 2009. Register now!
>> http://p.sf.net/sfu/devconference
>> _______________________________________________
>> Playerstage-gazebo mailing list
>> [email protected]
>> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>>
>
> ------------------------------------------------------------------------------
> Come build with us! The BlackBerry(R) Developer Conference in SF, CA
> is the only developer event you need to attend this year. Jumpstart your
> developing skills, take BlackBerry mobile applications to market and stay
> ahead of the curve. Join us from November 9 - 12, 2009. Register now!
> http://p.sf.net/sfu/devconference
> _______________________________________________
> Playerstage-gazebo mailing list
> [email protected]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
------------------------------------------------------------------------------
Come build with us! The BlackBerry(R) Developer Conference in SF, CA
is the only developer event you need to attend this year. Jumpstart your
developing skills, take BlackBerry mobile applications to market and stay
ahead of the curve. Join us from November 9 - 12, 2009. Register now!
http://p.sf.net/sfu/devconference
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