Re: how to get odometry error in stage simulation?

>
> i am using playerstage version 2.1. I need the odometry reading to have some
> error in order to simulate real time situation. But i find that the my
> odometry readings are in perfect synchronization with the actual robot pose.
> I have added this piece of code to my world file, but it does not work
> position
>    (
>     position properties
>         drive "diff"
>         localization "odom"
> #         localization_origin [ <defaults to model's start pose> ]
>
>         # odometry error model parameters,
>         # only used if localization is set to "odom"
>         odom_error [0.01 0.05 0.01 0.02 0.01 0.02]
>
>         # model properties
>         # update position according to the current velocity state
>         #                                                      velocity_enable 1
>    )
>
> please if anyone could point out what is the mistake
> here is my complete world file - simple.cfg
>
> # Desc: 1 pioneer robot with laser
> # CVS: $Id: simple.world,v 1.67 2006-10-05 22:27:29 gerkey Exp $
>
> # defines Pioneer-like robots
> include "pioneer.inc"
>
>
> # defines 'map' object used for floorplans
> include "map.inc"
>
>
> # defines sick laser scanner
> include "sick.inc"
>
>
> # size of the world in meters
> size [16 16]
>
> # set the resolution of the underlying raytrace model in meters
> resolution 0.02
>
> interval_sim 100
> interval_real 100
>
> # configure the GUI window
> window
> (
>  size [ 695.000 693.000 ]
>  center [-0.010 -0.040]
>  scale 0.028
> )
>
> # load an environment bitmap
> map
> (
>  bitmap "bitmaps/myImage.png"
>  size [16 16]
>  name "cave"
> )
>
>
> # create a robot
> pioneer2dx
> (
>  name "robot1"
>  color "red"
>  pose [-7 -7 0]
>  sick_laser()
>  watchdog_timeout -1.0
> )
> position
>    (
>     position properties
>         drive "diff"
>         localization "odom"
> #         localization_origin [ <defaults to model's start pose> ]
>
>         # odometry error model parameters,
>         # only used if localization is set to "odom"
>         odom_error [0.01 0.05 0.01 0.02 0.01 0.02]
>
>         # model properties
>         # update position according to the current velocity state
>         #                                                      velocity_enable 1
>    )
>
>
> here is the configuration file
>
> # Desc: Player sample configuration file for controlling Stage devices
> # Author:  Richard Vaughan
> # Date: 1 December 2004
> # CVS: $Id: simple.cfg,v 1.34 2007-11-02 01:11:39 gerkey Exp $
>
>
> # load the Stage plugin simulation driver
> driver
> (
>  name "stage"
>  provides ["simulation:0" ]
>  plugin "libstageplugin"
>
>  # load the named file into the simulator
>  worldfile "simple.world"
> )
>
> # Export the map
> driver
> (
>  name "stage"
>  provides ["map:0" ]
>  model "cave"
> )
>
> # Create a Stage driver and attach position2d and laser interfaces
> # to the model "robot1"
> driver
> (
>  name "stage"
>  provides ["position2d:0" "laser:0" "sonar:0" ]
>  model "robot1"
> )
>
> # Demonstrates use of a Player "abstract driver": one that doesn't
> # interface directly with hardware, but only with other Player devices.
> # The VFH driver attempts to drive to commanded positions without
> # bumping into obstacles.
> driver
> (
>  name "vfh"
>  provides ["position2d:1"]
>  requires ["position2d:0" "laser:0" ]
> )
> --
> View this message in context: http://old.nabble.com/how-to-get-odometry-error-in-stage-simulation--tp32310496p32310496.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
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