Hi Matt,

Without a lot more information we can't help you much.  Please see 
http://www.ros.org/wiki/Support#Guidelines_for_mailing_list_messages

I would suggest that you put in some debugging statements to make sure 
that the obstacles is being detected.  If you can track down more 
specifically where you think there is a problem and provide a way for us 
to reproduce the problem that would allow us to help you.

Tully

On 12/07/2010 09:20 PM, Matt Bergsma wrote:
>
> Hello;
>
> Currently working on a Sonar Based 'failsafe' object avoidance code, 
> which was originally developed and tested in Aria, and since porting 
> it from Aria to ros -- p2os I have found its gone from behaving as 
> expected to being very inconsistent at best, even after increasing its 
> internal parameters so both stop and stop/disable zones are 
> significantly larger. I would expect part of this would be lag in the 
> subnet the robot and my laptop are connected into, but even moving the 
> code onto the powerbot these same issues are occurring. Eg. The robot 
> is hitting our test object.
>
> Note -- The first set of tests had only the p2os node on the powerbot, 
> and roscore, my failsafe code, and a modified version of the 
> teleop_keyboard base code from the p2os package running on an hp 
> tm2-2050 laptop, and when the code was moved to the powerbot 
> everything except for the teleop code was moved to run on the powerbot 
> but not utilizing the local loopback.
>
> When this code was developed and tested in aria, it behaved as 
> expected, and its very light weight (running a simple profile in aria 
> was giving run times of around 28s for 1,000,000 sets of readings and 
> decision on all the sonar sensors) which ran on the powerbot itself, 
> and the code hasn't been significantly modified, except to talk using 
> the ROS framework to the applicable channels. So I would expect it 
> isn't the issue.
>
> Hopefully someone can shed some light on the issues encountered.
>
> Thanks, Matt Bergsma
>
>
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