Re: Using player/stage with custom robots

The reason the rangers do not detect robots when put on a position device
is that they are *on top of the position device* and their beams pass over
the other robots. To solve this, put a small negative z pose for the
ranger, as in the pioneer and other example world files.




On Mon, May 26, 2014 at 1:11 PM, Christof <[email protected]> wrote:

> Hi,
>
> i am trying to implement a robot population which can detect other robots
> via sonar/ranger devices. Unfortunately, my robot position model does not
> work as intended.
> This is my position model:
>
> define robot position
> (
>     model()
>
>     # actual size
>     size [0.1 0.1 0.2]
>     origin [0 0 0 45]
>
>     bitmap "bitmaps/circle.png"
>
>     # positional things
>     drive "diff"
>     obstacle_return 0
>     ranger_return 1
>     laser_return 1
>
>     # sensors attached to robot
>     laser_sensor()
> )
>
> and my robots look like this:
>
> robot
> (
>     name "r0"
>     pose [ 6 6 0 151]
>     color "blue"
>     ranger_return 1
> )
>
> Without the model() line the rangers do not work correctly. They only
> detect walls, not the other robots besides the ranger_return 1.
> With the model() line the rangers work correctly. But somehow, the robots
> have not the intended sizes, colors, and shapes.
> I attached screenshots to show my problem and the world file. I use
> stage.hh to setup my world and control the robots.
> Does anyone know how to fix this problem? If there is more knowledge
> needed to fix this problem please ask me.
>
> Greetings,
> Christof
>
>
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