Susan Fox wrote:
Hi, there,
I have a robot that is controlled by Pyro in a real-world environment.
For east of testing, I'm using Stage to simulate the real-world
environment. I've created a .png image of a map that I have, and I'm
satisfied with how that part is working. I'm not excessively fussy about
how accurate a simulation it is, but I really want to be sure that the
*scale* is correct, that one meter in the real world corresponds to one
meter in the simulated world, and that the simulated robot has the right
relative size. I've begun to suspect that my Stage simulation is *not*
the right scale, but the Stage documentation is very sparse. I'm
posting this question here as well as the Stage-users list. How do I
determine the correct values for the Stage configuration and world
files, to ensure that the scale is correct?
My second question is, given that I have a Stage simulation with a
fairly detailed rendition of my real-world environment, is there any
simple or semi-automated way to transform that into a Pyrobot
simulation? I have some students doing a class with robotics, and I
don't want to give them the complexity of Stage, but I'd really like for
them to have a somewhat accurate simulation of our real-world
environment to work with.
I would think that you could mechanize that process. Lisa Meeden
documented the Pyrobot Simulator values here fairly well:
http://pyrorobotics.org/?page=The_20Pyrobot_20Simulator
and Stage here:
http://pyrorobotics.org/?page=The_20Stage_20Simulator
I'd have to check to make sure that the Stage info is still up-to-date.
-Doug
Thanks,
Susan Fox
--
Susan Fox Associate Professor
Mathematics/Computer Science Macalester College
Office: (651) 696-6553 Fax: (651) 696-6518
[EMAIL PROTECTED] http://www.macalester.edu/~fox
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