Hi, Thanks this trick is working for the scale problem but still playernav has problems to lead the little pioneer towards the goal :-( By the way, has anyone problems with the visualisation of playernav with player-3.0. In my case playernav work only with playerversion 2.1.1 in all the other versions it doesn't work.
regards andreas Peter Nordin schrieb: > 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! >>>> 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 >> _______________________________________________ >> 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 > -- Andreas Vogt Logistics and Production Robotics DFKI Bremen Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Phone: +49 (0)421 218-64140 Fax: +49 (0)421 218-64150 E-Mail: [email protected] Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3 ------------------------------------------------------------------------------ Let Crystal Reports handle the reporting - Free Crystal Reports 2008 30-Day trial. Simplify your report design, integration and deployment - and focus on what you do best, core application coding. Discover what's new with Crystal Reports now. http://p.sf.net/sfu/bobj-july _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
