Re: how to get odometry error in stage simulation?

>
> okay so i have changed my world file accordingly. It looks like this now
>
>
> Richard Vaughan-2 wrote:
>>
>> If you're driving the pioneer robot around, you need to put the odom
>> error settings in that model, not into another model called
>> "position".
>>
>> Like this:
>> # 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 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
>> )
>>
>> But stil i find there is no odometry error. And while running the
>> simple.cfg file , i.e when i do "$player simple.cfg" on my console i get
>> the following error
>>  6665.31.0 is a Stage world [Loading ./simple.world][Include
>> pioneer.inc][Include map.inc][Include sick.inc]err: ./simple.world:106 :
>> syntax error 2 (worldfile.cc ParseTokenWord)
>>
>> Thanks a lot for your help
>> piyush
>>
>> pioneer(
>>
>> <all your current settings>
>>
>>  localization "odom"
>>  odom_error [0.01 0.05 0.01 0.02 0.01 0.02]
>>
>> )
>>
>> Your current file creates two robots, one based on the pioneer
>> template and one generic position model, and the odom error settings
>> are applied to the second one only.
>>
>> - rtv
>>
>> On Mon, Aug 22, 2011 at 4:50 AM, Piyush Shukla <piyush1890@...>
>> wrote:
>>>
>>> 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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>>
>> ------------------------------------------------------------------------------
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>>
>>
>
> --
> View this message in context: http://old.nabble.com/how-to-get-odometry-error-in-stage-simulation--tp32310496p32312567.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
> ------------------------------------------------------------------------------
> uberSVN's rich system and user administration capabilities and model
> configuration take the hassle out of deploying and managing Subversion and
> the tools developers use with it. Learn more about uberSVN and get a free
> download at:  http://p.sf.net/sfu/wandisco-dev2dev
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>