Hello, It would be difficult to use the true position of the robot from the simulation.
What exactly do you mean when you say the position doesn't correspond to the simulation? You should make sure that your map that you provide to amcl matches up with gazebo in terms of scale and position. You can visually check this using playerv. You can print out the position of the robot using the Simulation interface. This will give you some debug output. -nate On Mon, Oct 20, 2008 at 12:04 PM, Jan Schulte Landwehr <[EMAIL PROTECTED]> wrote: > Hi, I'm trying to implement a simple planer using wavefront. I'm using > gazebo0.8 and player 2.1.1. Is there a posibilty to run wavefront not with > the position provided by the amcl driver, but with the real position auf the > simulation? I just want to know wether wavefront plans a correct path. If i > start my script the robot moves to the right position provided by the amcl > but this position is doesnt correspond to the position the robot has in the > simulation. > This is my code. What I'm doing wrong? > > > driver > ( > name "gazebo" > provides ["simulation:0"] > plugin "libgazeboplugin" > alwayson 1 > ) > > driver > ( > name "gazebo" > provides ["odometry:::position2d:0"] > gz_id "robot1" > ) > > driver > ( > name "gazebo" > provides ["laser:0"] > gz_id "laser_iface_0" > ) > > driver > ( > name "vfh" > provides ["position2d:1"] > requires ["position2d:0" "laser:0"] > #safety_dist 0.1 > distance_epsilon 0.3 > angle_epsilon 5 > ) > > driver > ( > name "mapfile" > provides ["map:0"] > filename "wavefront.pgm" > resolution 0.1 > ) > > driver > ( > name "amcl" > provides ["position2d:2"] > init_pose [0.0 0.0 0.0] > requires ["odometry:::position2d:1" "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 0.5 > angle_epsilon 10 > ) > > > <?xml version="1.0"?> > > <gazebo:world > xmlns:xi="http://www.w3.org/2001/XInclude"; > xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"; > xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"; > xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"; > xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window"; > xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param"; > xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"; > xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"; > xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"; > > xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"; > xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui"; > > xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"; > > xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"; > xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"; > > > > <verbosity>5</verbosity> > > <physics:ode> > <stepTime>0.03</stepTime> > <gravity>0 0 -9.8</gravity> > <cfm>10e-5</cfm> > <erp>0.3</erp> > </physics:ode> > > <rendering:gui> > <type>fltk</type> > <size>800 600</size> > <pos>0 0</pos> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > </rendering:gui> > > <rendering:ogre> > <ambient>0.5 0.5 0.5 1.0</ambient> > <sky> > <material>Gazebo/CloudySky</material> > </sky> > > <fog> > <color>1.0 1.0 1.0</color> > <linearStart>10</linearStart> > <linearEnd>100</linearEnd> > </fog> > </rendering:ogre> > > <!-- Ground Plane --> > <model:physical name="plane1_model"> > <xyz>0 0 0</xyz> > <rpy>0 0 0</rpy> > <static>true</static> > > <body:plane name="plane1_body"> > <geom:plane name="plane1_geom"> > <normal>0 0 1</normal> > <size>2000 2000</size> > <segments>10 10</segments> > <uvTile>100 100</uvTile> > <material>Gazebo/Grey</material> > </geom:plane> > </body:plane> > </model:physical> > > <model:physical name="wall0_model"> > <body:box name="wall_0_body"> > <xyz> 0.00 10.00 0.50</xyz> > <rpy> 0.00 0.00 0.00</rpy> > <static>true</static> > <geom:box name="wall_0_geom"> > <mesh>default</mesh> > <size> 20.00 0.20 1.00</size> > <visual> > <size> 20.00 0.20 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall1_model"> > <body:box name="wall_1_body"> > <xyz> 0.00 -10.00 0.50</xyz> > <rpy> 0.00 0.00 0.00</rpy> > <static>true</static> > <geom:box name="wall_1_geom"> > <mesh>default</mesh> > <size> 20.00 0.20 1.00</size> > <visual> > <size> 20.00 0.20 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall2_model"> > <body:box name="wall_2_body"> > <xyz> -10.10 0.00 0.50</xyz> > <rpy> 0.00 0.00 90.00</rpy> > <static>true</static> > <geom:box name="wall_2_geom"> > <mesh>default</mesh> > <size> 20.00 0.20 1.00</size> > <visual> > <size> 20.00 0.20 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall3_model"> > <body:box name="wall_3_body"> > <xyz> 10.10 0.00 0.50</xyz> > <rpy> 0.00 0.00 90.00</rpy> > <static>true</static> > <geom:box name="wall_3_geom"> > <mesh>default</mesh> > <size> 20.00 0.20 1.00</size> > <visual> > <size> 20.00 0.20 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall4_model"> > <body:box name="wall_4_body"> > <xyz> 4.25 6.00 0.50</xyz> > <rpy> 0.00 0.00 90.0</rpy> > <static>true</static> > <geom:box name="wall_4_geom"> > <mesh>default</mesh> > <size> 4.00 0.50 1.00</size> > <visual> > <size> 4.00 0.50 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall5_model"> > <body:box name="wall_5_body"> > <xyz> -3.25 -2.00 0.50</xyz> > <rpy> 0.00 0.00 90.0</rpy> > <static>true</static> > <geom:box name="wall_5_geom"> > <mesh>default</mesh> > <size> 8.00 0.50 1.00</size> > <visual> > <size> 8.00 0.50 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <model:physical name="wall6_model"> > <body:box name="wall_5_body"> > <xyz> 5.00 -0.25 0.50</xyz> > <rpy> 0.00 0.00 0.00</rpy> > <static>true</static> > <geom:box name="wall_5_geom"> > <mesh>default</mesh> > <size> 6.00 0.50 1.00</size> > <visual> > <size> 6.00 0.50 1.00</size> > <material>Gazebo/PioneerBody</material> > <mesh>unit_box</mesh> > </visual> > </geom:box> > </body:box> > </model:physical> > > <!-- > Include the complete model described in the .model file > This assumes the root node is a <model:...> > --> > <!-- <include embedded="false"> > <xi:include href="pioneer2dx.model" /> > </include> > --> > > <model:physical name="pioneer2dx_model1"> > <xyz>0 0 0.14</xyz> > <rpy>0.0 0.0 0.0</rpy> > <python>pioneer2dx</python> > > <controller:differential_position2d name="controller1"> > <leftJoint>left_wheel_hinge</leftJoint> > <rightJoint>right_wheel_hinge</rightJoint> > <wheelSeparation>0.39</wheelSeparation> > <wheelDiameter>0.15</wheelDiameter> > <torque>5</torque> > <interface:position name="robot1"/> > </controller:differential_position2d> > > <model:physical name="laser"> > <xyz>0.15 0 0.18</xyz> > > <attach> > <parentBody>chassis_body</parentBody> > <myBody>laser_body</myBody> > </attach> > > <include embedded="true"> > <xi:include href="models/sicklms200.model" /> > </include> > </model:physical> > > <include embedded="true"> > <xi:include href="models/pioneer2dx.model" /> > </include> > </model:physical> > > <!-- White Directional light --> > <model:renderable name="directional_white"> > <light> > <type>directional</type> > <direction>0 -0.6 -0.4</direction> > <diffuseColor>1.0 1.0 1.0</diffuseColor> > <specularColor>0.2 0.2 0.2</specularColor> > <attenuation>1000 1.0 0.0 0</attenuation> > </light> > </model:renderable> > > > </gazebo:world> > > > > > #!/usr/bin/env python > > import math, time,sys > from playerc import * > > # Create a client object > client = playerc_client(None, 'localhost', 6665) > # Connect it > if client.connect() != 0: > raise playerc_error_str() > > # Create a proxy for position2d:0 > position0 = playerc_position2d(client,0) > if position0.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > # Retrieve the geometry > if position0.get_geom() != 0: > raise playerc_error_str() > #print 'Robot size: (%.3f,%.3f)' % (position0.size[0], position0.size[1]) > print 'Robot position: ', position0.px, position0.py, position0.pa > > map0 = playerc_map(client,0) > if map0.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > #get actual map > map0.get_map() > > # Create a proxy for laser:0 > laser0 = playerc_laser(client,0) > if laser0.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > # Retrieve the geometry > if laser0.get_geom() != 0: > raise playerc_error_str() > #print 'Laser pose: (%.3f,%.3f,%.3f)' % > (laser0.pose[0],laser0.pose[1],laser0.pose[2]) > > > # Create a proxy for position2d:1 > position1 = playerc_position2d(client,1) > if position1.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > # Create a proxy for position2d:2 > position2 = playerc_position2d(client,2) > if position2.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > planner0 = playerc_planner(client,0) > if planner0.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > simulation0 = playerc_simulation(client,0) > if simulation0.subscribe(PLAYERC_OPEN_MODE) != 0: > raise playerc_error_str() > > position0.enable(1) > > planner0.enable(1); > > #Zielposition setzen > planner0.set_cmd_pose(7,-3,0) > > try: > while True: > client.read() > print 'reale Robotor Position: (%.3f,%.3f,%.3f)' % > (position0.px,position0.py,position0.pa) > print 'Partikelfilter Position: (%.3f,%.3f,%.3f)' % > (position2.px,position2.py,position2.pa) > > > except KeyboardInterrupt: > # Clean up > position0.set_cmd_vel(0.0, 0.0, 0.0, 1) > position0.enable(0) > position0.unsubscribe() > position1.unsubscribe() > position2.unsubscribe() > map0.unsubscribe() > planner0.enable(0) > planner0.unsubscribe() > laser0.unsubscribe() > client.disconnect() > > __________________________________________________ > Do You Yahoo!? > Sie sind Spam leid? 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