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Compairing player-stage and ros-stage for multiple robots?

asked 2012-07-15 04:33:30 -0500

abdullah gravatar image

updated 2012-07-19 11:47:37 -0500

Hi,

I am working on stage simulator in ROS with multiple robots. I have written a code to move robot in stage simulator. When I try to run that code on 2 or 3 robots in stage, every robot has some different speed. Robot that starts moving first have high speed.

In player-stage we run .cfg file using player. Separate ports are assigned in .cfg file in case of multiple robots. i.e.

driver
(
name "stage"
provides ["6665:position2d:0"
"6665:sonar:0"
"6665:blobfinder:0"
"6665:laser:0"]
model "bob1"
)

But I am confused that how multiple robots are separated in stage-simulator in ros?

Can I run each robot on separate port in ROS?

Thanks

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joq gravatar image joq  ( 2012-07-15 05:16:12 -0500 )edit

@Arkapravo Thanks a lot. I was very much confused. Have you run navigation-stage tutorial? When we use move_base with multiple robots, robots have same speed.

abdullah gravatar image abdullah  ( 2012-07-20 03:49:43 -0500 )edit

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answered 2012-07-19 20:21:37 -0500

updated 2012-07-19 20:21:53 -0500

@abdullah I am not sure about fuerte, but electric and diamondback did not have such a support for multi-robot simulations. http://answers.ros.org/question/11192/swarm-robotics-facility-in-ros/

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answered 2013-09-03 22:56:57 -0500

Hi, I am working on a player/stage project which currently has 3 (Later it will be extended to 6) iRobots -Roomba. As suggested in Jenny Owen's Tutorial on player/stage http://www-users.cs.york.ac.uk/~jowe...ial-manual.pdf , I was giving different port numbers to each one of the robots.

Here is my .cfg file :

driver ( name "stage" provides [ "simulation:0"] plugin "stageplugin" worldfile "pacman.world" )

driver ( name "stage" provides [ "6665:position2d:0" ] model "pacman" )

driver ( name "stage" provides ["6666:position2d:0" ] model "ghost1" )

driver ( name "stage" provides ["6667:position2d:0" ] model "ghost1" )

But, I am getting this error when I am running ./ghost1 and ./ghost2 :

playerc error : got NACK from request

The simulator is not able to run the other two robots, I guess.

Kindly help me in this regard.

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Asked: 2012-07-15 04:33:30 -0500

Seen: 965 times

Last updated: Sep 03 '13