Thank you very much for your answer guys!
Actually I didn't think about the laser's position on the simulations.
It is, in fact, mounted on top of each robot. Therefore, one laser
does not see the body of other robots due to their heights.
Eitan's idea to publish a point cloud of obstacle data sounds really
nice. Nevertheless, I am going to try to adjust the laser's height
firstly in the .world file on stage to check how the navigation stack
handles the multi-robot case and if I feel that is necessary I will
also implement Eitan's idea.
My .world file is:
-----------------------------------------------------------------------------------------------------
define hokuyo laser(
range_max 2.0
fov 270.25
samples 1081
color "black"
size [ 0.05 0.05 0.1 ]
)
define robot position(
size [0.33 0.33 0.1]
# This block approximates a circular shape of a Robot
block
(
points 16
point[0] [ 0.225 0.000 ]
point[1] [ 0.208 0.086 ]
point[2] [ 0.159 0.159 ]
point[3] [ 0.086 0.208 ]
point[4] [ 0.000 0.225 ]
point[5] [ -0.086 0.208 ]
point[6] [ -0.159 0.159 ]
point[7] [ -0.208 0.086 ]
point[8] [ -0.225 0.000 ]
point[9] [ -0.208 -0.086 ]
point[10] [ -0.159 -0.159 ]
point[11] [ -0.086 -0.208 ]
point[12] [ -0.000 -0.225 ]
point[13] [ 0.086 -0.208 ]
point[14] [ 0.159 -0.159 ]
point[15] [ 0.208 -0.086 ]
color "gray50"
)
hokuyo( pose [0 0 0.1 0] )
color "gray50"
)
window(
size [ 720 692 1]
rotate [ 0.000 0.000 ]
center [5.975 6.225 ]
scale 35
show_data 1
)
define floorplan model (
# Sombre, sensible, artistic
color "gray30"
# Most maps will need a bounding box
boundary 1
gui_nose 0
gui_grid 0
gui_move 0
gui_outline 0
gripper_return 0
fiducial_return 0
laser_return 1
)
floorplan (
size [11.95 12.45 1]
pose [5.975 6.225 0 0]
bitmap "1r-5-map.pgm"
)
robot(
# Can refer to the robot by this name
name "robot0"
pose [ 5.80 7.35 0 90.0 ]
drive "diff"
localization "gps"
localization_origin [ 0 0 0 0 ]
)
robot(
# Can refer to the robot by this name
name "robot1"
pose [ 1.00 7.50 0 90.0 ]
drive "diff"
localization "gps"
localization_origin [ 0 0 0 0 ]
)
-----------------------------------------------------------------------------------------------------
I believe I just have to change the pose of the Hokuyo laser, right?
Again, thank you very much for your hints. I hope to solve the problem soon :)
Best Regards,
David Portugal
Mobile Robotics Laboratory
Institute of Systems and Robotics
University of Coimbra
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