Matt-

I agree with Eric, you want to modify stageros to output the sonar
readings. There is a pioneer model in the $(find
stage)/build/Stage-3.2.2-Source/worlds directory. The relevant files
are:

simple.world
pioneer.inc

Currently if you used rosrun stage stageros simple.world, it would pop
up the world with a pioneer and a working laser. Perhaps with the
above sensor patch to stageros it will also output the sonar.

-Dave

On Tue, Oct 26, 2010 at 6:28 PM, Matt Bergsma <mjb4@sfu.ca> wrote:
> Eric,
>
>
>
> That patch looks like it’ll help, and in a nutshell what I’m trying to do is
> to port over a sonar based failsafe algorithm to guarantee no collisions
> irregardless of whats being run as a higher planner that I’ve coded in aria,
> so the limit of the functionality I’ve been using is change/get velocity
> (linear and angular) along with the sonar data from a powerboat. Thanks for
> the help, some of these questions are also thinking ahead for further
> development within the group in the ROS platform.
>
>
>
> Matt
>
>
>
> From: ros-users-bounces@code.ros.org [mailto:ros-users-bounces@code.ros.org]
> On Behalf Of Eric Perko
> Sent: Tuesday, October 26, 2010 6:01 PM
> To: User discussions
> Subject: Re: [ros-users] Does Stageros support P2OS
>
>
>
> Matt,
>
>
>
> On Tue, Oct 26, 2010 at 8:37 PM, Matt B <fooloftherandom@gmail.com> wrote:
>
> Hello all;
>
> I’ve been trying to use P2OS & Stageros to provide a simulated powerbot in
> ros to port over some aria code I have to the new system.  And from what
> I’ve found/heard is that it isn’t currently supported.
>
>
>
> Perhaps with some more details on what exactly you are trying to simulate,
> we can give you some more information as to whether it is supported or not.
> I can't find any page on the wiki detailing what exactly the ROS API for
> p2os is, so it will be difficult for us to say which parts of p2os's ROS API
> stageros can support without modification.
>
>
>
> As well I don’t believe the current version of stageros in the
> cturtle-stable stack doesn’t support sonar data. Is there any work around
> for this? Or possibly an unstable release that will be able to help me out?
>
>
>
> There is https://code.ros.org/trac/ros-pkg/ticket/4487 that has a patch to
> stageros to output sensor_msgs/Range for sonar support. sensor_msgs/Range is
> pretty new, so you'll likely have to grab either trunk or an unstable
> release of the common_msgs stack. That patch should be a good starting place
> for getting sonar data out of stageros.
>
>
>
> Hope that helps.
>
>
>
> - Eric
>
>
>
> Thanks,
>
> Matt Bergsma
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>