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How to I set a robot pose in stage

asked 2012-03-12 04:34:05 -0600

Markus Bader gravatar image

Hi

is it possible to set the pose [x,y, alpha] of the simulated robot in stage via ROS?

Greetings

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I would like to set the robots pose while the simulator is running. Any ideas?

Markus Bader gravatar imageMarkus Bader ( 2012-03-13 00:29:18 -0600 )edit

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answered 2012-03-12 05:01:16 -0600

lucascoelho gravatar image

Are you talking about setting the initial position? You can set this by modifying your .world file. Example:

roomba( pose [ 3.2 8 0 0 ] name "roomba_0" color "red")

where roomba is the name of the model of my robot. The first argument of pose is the x position, the second is y position, third z position and the last is the orientation of the robot.

Another way to set the robot's position is to click on it and drag to the desired position.

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Hello Lucas I would like to set the robots pose while the simulator is running.

Markus Bader gravatar imageMarkus Bader ( 2012-03-13 00:26:49 -0600 )edit

Hello Lucas

Markus Bader gravatar imageMarkus Bader ( 2012-03-13 00:26:51 -0600 )edit

If you want to set the robot's position while the simulator is running, you can click on the robot and drag it to the position that you want.

lucascoelho gravatar imagelucascoelho ( 2012-03-13 03:07:43 -0600 )edit

Hello and thanks for your comments. But I like to set and change the pose of the robot while the simulation is running. I have to run tests and I do not want to place the robot always with the mouse. Greetings and thanks again

Markus Bader gravatar imageMarkus Bader ( 2012-05-21 06:13:18 -0600 )edit

Hello,did you find a solution to this? can you share it? thanks

Victor_ocv2 gravatar imageVictor_ocv2 ( 2013-04-24 08:56:53 -0600 )edit
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answered 2012-03-12 06:02:51 -0600

updated 2012-03-12 21:02:52 -0600

In agreement with lucascoelho, I cite an example. If you check out this tutorial, http://www.ros.org/wiki/stage/Tutorials/IntroductiontoStageControllers and have a look at the roomba-wander.world file, then

pose [ -8 6 0 0 ]

is the pose [x y z alpha] that you are looking for; x = -8, y = 6, z = 0 and alpha = 0.

Once the simulation has started, you can see the realtime pose, by clicking on the robot.

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Hello Arkapravo, I would like to set the robots pose while the simulator is running. Any ideas?

Markus Bader gravatar imageMarkus Bader ( 2012-03-13 00:27:35 -0600 )edit

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Asked: 2012-03-12 04:34:05 -0600

Seen: 1,563 times

Last updated: Mar 12 '12