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Is there any way to add multiple topurg rangers to a robot in ros stage?

asked 2014-07-08 12:58:07 -0500

robospace gravatar image

We are using ros stage in both hydro and indigo.

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answered 2014-07-09 14:54:54 -0500

allenh1 gravatar image

updated 2014-07-11 10:49:35 -0500

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.)

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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

robospace gravatar image robospace  ( 2014-07-10 10:56:00 -0500 )edit

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.

allenh1 gravatar image allenh1  ( 2014-07-11 10:47:22 -0500 )edit

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Asked: 2014-07-08 12:58:07 -0500

Seen: 380 times

Last updated: Jul 11 '14