[ros-users] Stage World File Position Parameters

Alexis Cheng acheng_1221 at hotmail.com
Tue May 17 18:38:53 UTC 2011

Hi All,

I'm using stageros to simulate a robot. I'm having some difficulty acquiring the initial position of the robot. It shows up in the correct location on the gui, but the reported pose is relative to the initial position.

One possible solution that I found was using the localization_origin parameter in the world file. However, adding it causes an error to stageros on startup.

stageros: worldfile.cc:757: const char* Stg::Worldfile::GetTokenValue(int): Assertion 'index >= 0 && index < this->token_count' failed.

Below is an excerpt from the world file that I'm using.

define erratic position
  size3 [0.35 0.35 0.25]
  origin3 [-0.05 0 0 0]
  drive "diff"
  localization "odom"
  localization_origin [0 0 0]
  gui_nose 1
  topurg(pose [0.05 0 0])

erratic( pose [15 8 0] name "era" color "blue")

Am I setting this parameter incorrectly? Otherwise, is there another way to obtain the initial position of the robot via a topic or a parameter? Thank you all in advance.

Alexis Cheng
Electrical Engineering
University of British Columbia
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