Is there any way to add multiple topurg rangers to a robot in ros stage?
We are using ros stage in both hydro and indigo.
Asked by robospace on 2014-07-08 12:58:07 UTC
Answers
Yes, but I'm not sure why you'd need to... This would be configured in the .world file.
define hokuyolaser ranger
(
sensor(
range [ 0.0 5.0 ]
fov 270
samples 270
)
# generic model properties
color "blue"
size [ 0.07 0.07 0.05 ] # dimensions from LMS200 data sheet
)
define hokuyorapid ranger
(
sensor(
range [ 0.0 4.0 ]
fov 240
samples 240
)
color "blue"
size [ 0.073 0.060 0.055 ]
)
pioneer3dx
(
# can refer to the robot by this name
name "pioneer"
pose [92 46 0 0]
hokuyorapid(color "blue")
hokuyolaser(color "red")
)
This is an example. I didn't add the pose variable in the configuration, so they would be on top of one another if input as such. Put them at different positions.
Update: Stage will not allow for a single robot to have multiple rangefinders... But, you could use sonar in addition to a laser rangefinder (I know this for a fact - I did this all the time when I was using player... Ah, back in the day.)
Asked by allenh1 on 2014-07-09 14:54:54 UTC
Comments
I am getting this error message when include more than one laser in a world file
[FATAL] [1405007574.089127505]: number of position models and laser models must be equal in the world file. [FATAL] [1405007574.089237927]: BREAKPOINT HIT
Asked by robospace on 2014-07-10 10:56:00 UTC
Haha, well I guess that answers that question. Sorry, didn't try it myself. Apparently Stage is not ok with that. I shall update my answer accordingly.
Asked by allenh1 on 2014-07-11 10:47:22 UTC
Comments