Re: VFH Problem

Thanks a lot, at least its compiling now.

I tried

playerc_position2d_set_cmd_pose(position2d_vfh, -8,-4, 180, 1);

and the same thing with the planner, but both of them give with the same error:

playerc error   : skipping message to unknown:47109 with unsupported type command:2

I am using this cfg file for player

driver
(
  name "stage"
  provides [ "simulation:0" ]
  plugin "libstageplugin"
  worldfile "roombaSTAGELASER.world"
)

driver
(
  name "stage"
  #provides ["position2d:0" "power:0" "bumper:0" "ir:0" "opaque:0"]
  provides ["odometry:::position2d:0" "laser:0"]
  model "roomba0"
)

driver
(
  name "mapfile"
  provides ["map:0"]
  resolution 0.0495
  filename "bitmaps/Real_welt_1000.ppm"
)

driver
(
  name "amcl"
  init_pose [-5.51 2.23 0 180]
  laser_max_beams [6]
  pf_max_samples [10000]
  enable_gui [0]
  provides ["localize:0" "position2d:2"]
  requires ["odometry:::position2d:1" "laser:0" "laser:::map:0"]
)



driver
(
 name "vfh"
 provides ["position2d:1"]
 requires ["position2d:0" "laser:0"]
 safety_dist 0.2
 distance_epsilon 0.3
  angle_epsilon 20
)



driver
(
        name "wavefront"
        provides ["planner:0"]
        requires ["output:::position2d:1" "input:::position2d:2""map:0"]
        safety_dist 0.2
        distance_epsilon 0.25
        angle_epsilon 20
)

What am i doing wrong? :)

greets