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Robots in Stage drive through walls [closed]

asked 2018-09-13 08:03:55 -0600

The Martin gravatar image

I noticed that robots in Stage can drive through walls. Is that expected?

I'm using ROS Kinetic under Ubuntu 16.04, as follows:

rosrun stage_ros stageros  /opt/ros/kinetic/share/stage/worlds/pioneer_walle.world

and

rosrun turtlesim turtle_teleop_key /turtle1/cmd_vel:=/robot_0/cmd_vel

Then, when I command the robot from the telop terminal, it passes straight through the walls in Stage, as if they weren't there.

Stage does print out warning messages about more than one ranger not being supported, but it doesn't sound like that would be related to this problem, right?

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Closed for the following reason the question is answered, right answer was accepted by allenh1
close date 2018-09-21 14:31:05.196344

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If you check the topics with rostopic list you can see that there are only informations from the scan, odometry, cmd_vel etc.. but none about a collision or a bumper to detect it so it's sound normal. And yes the warning is simply because there are two robots.

Delb gravatar image Delb  ( 2018-09-13 08:34:57 -0600 )edit

But I thought that Stage would still check for collisions, even if the (simulated) robot doesn't have a sensor to detect the collision. If my memory serves me, that's how it used to work in older versions.

The Martin gravatar image The Martin  ( 2018-09-13 08:50:23 -0600 )edit

It is possible but you have to implement it and tell the robot to use a bumper (or any other sensor that can tell the robot is touching something) If you are no restrained to Stage maybe you should use Gazebo.

Delb gravatar image Delb  ( 2018-09-13 09:00:38 -0600 )edit

@The Martin That's definitely not expected behavior! I'd be curious to see if the p2os version of the pioneer world replicates this behavior. (see p2os_urdf and p2os_launch)

allenh1 gravatar image allenh1  ( 2018-09-13 09:42:45 -0600 )edit

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answered 2018-09-13 10:44:23 -0600

lucascoelho gravatar image

updated 2018-09-18 13:34:43 -0600

World file objects, like robots and maps usually have a parameter called obstacle_return , which makes them collide with other objects around or not. If set to 1, it will collide, and 0 it won't. Please take a look here for deeper info: https://player-stage-manual.readthedo...

In the case of your simulation, I could see that the pioneer_walle.world includes a map.inc file, and the map described has a obstacle_return parameter set to 0. I believe if you change it to 1, robots should collide with the obstacles.

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Indeed! Strange, though, that all the map files that ship with Stage have obstacle_return 0.

The Martin gravatar image The Martin  ( 2018-09-14 00:57:37 -0600 )edit

I've added a link the file that has obstacle_return 0

lucascoelho gravatar image lucascoelho  ( 2018-09-18 13:33:59 -0600 )edit

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Asked: 2018-09-13 08:03:55 -0600

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Last updated: Sep 18 '18