ROS Stage in Fuerte on 12.04 only supports 1 ranger or 1 sonar type how to do both
I understand that there is a ROS stage limitation of support where a robot is only allowed to have "rangers with 1 sensor only." As referenced here. As well as a rename of the Laser to rangers type, as referenced here.
Then how do I create a robot model to the specifications of my physical robot which will be compatible with ROS Stage 4.1.1? See here for breakdown of S1R. I have a mix of sonar, IR, and laser rangefinder. Currently, I would have to strip it down and only have one sensor on it, and I certainly don't want to do that.
What happened to the change in Stage that allowed multiple sensors as described in here?
The following world code is what I am working with:
include "S1R.inc"
include "hokuyo.inc"
S1R
(
# can refer to the robot by this name
name "r0"
pose [ 1.20 2.00 0 150 ]
hokuyolaser(
color "gray"
pose [0.04 0.00 -0.11 0]
)
alwayson 1
localization "gps"
localization_origin [ 0 0 0 0 ]
laser_return 0
)
window
(
size [ 800 800 ] # in pixels
scale 150.0
# pixels per meteri
center [ 1.7 1.8 ]
rotate [ 0 0 ]
view (
show_data 1
show_laser 1
show_laser_strikes 1
show_ranger 0
show_mines 1
)
)
###########################
# OBSTACLES
###########################
define obstacle model
(
name "unknown"
color "orange"
pose [0 0 0 0]
size [0 0 0]
gui_nose 0
gui_grid 0
gui_move 1
gui_outline 0
# insensible to collision and range sensors
obstacle_return 1
laser_return 1
ranger_return 1
)
obstacle(name "1" pose [1.71 0.02 0 90.0] size [0.04 3.34 0.25] color "brown")
obstacle(name "2" pose [1.71 3.7 0 90.0] size [0.04 3.34 0.25] color "brown")
obstacle(name "3" pose [0.02 1.86 0 0.0] size [0.04 3.72 0.25] color "brown")
obstacle(name "4" pose [3.4 1.86 0 0.0] size [0.04 3.72 0.25] color "brown")
obstacle(name "10" pose [2.26 0.5 0 0.0] size [0.04 0.28 0.25] color "red")
#obstacle(name "11" pose [2.76 0.18 0 0.0] size [0.04 0.28 0.25] color "red")
obstacle(name "22" pose [2.9 1.46 0 0.0] size [0.04 0.28 0.25] color "red")
obstacle(name "26" pose [0.5 0.34 0 90.0] size [0.04 0.36 0.25] color "gray49")
obstacle(name "27" pose [0.18 0.66 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "28" pose [1.16 0.34 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "29" pose [1.48 0.34 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "30" pose [1.44 0.66 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "31" pose [2.1 0.66 0 90.0] size [0.04 0 ...