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

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