[ros-users] Stage with Pioneer

Brian Gerkey gerkey at willowgarage.com
Mon Nov 7 15:32:39 UTC 2011

On Mon, Nov 7, 2011 at 6:35 AM, Eliot Beckham <webeckham at gmail.com> wrote:
> I appreciate it, Brian. Slight issue: after installing the patch, rosmaking
> stage and attempting to run the .world with a pioneer, it's triggering the
> same error as before. The error itself refers to a piece of code that should
> have been erased by the patch. I've pre-cleaned it, tried different
> approaches to rosmake, and gone through the code to make sure its
> compilable. Any idea as to what might be the problem?

I'd need to see the full error output to provide advice.


> On Mon, Oct 24, 2011 at 11:57 AM, Brian Gerkey <gerkey at willowgarage.com>
> wrote:
>> On Mon, Oct 24, 2011 at 6:19 AM, Eliot Beckham <webeckham at gmail.com>
>> wrote:
>> > I've been trying to use the GUI simulator "stage" to run a demo of a
>> > pioneer
>> > robot within ROS. Stage is setup within its code, stageros.cpp, not
>> > specifically to function with the default virtual robot class defined in
>> > stage (roomba.inc), but with a robot using an array of lasers - a
>> > pioneer
>> > robot (defined within pioneer.inc) uses only a sonar array. Stage works
>> > just
>> > fine when simulating a roomba, and still constructs the world when run
>> > before hitting a fatal error. Is there any sort of patch or modification
>> > to
>> > stageros.cpp that can be made in order to run stage using a robot with a
>> > sonar array?
>> hi Eliot,
>> As the docs say (http://www.ros.org/wiki/stage#World_syntax), the ROS
>> wrapper for Stage only exposes `laser` and `position` models.  There's
>> an (embarrassingly old) patch that adds support for sonar:
>> https://code.ros.org/trac/ros-pkg/ticket/4487.
>> I'll make sure that we enable sonar support for Fuerte, as part of the
>> upgrade to Stage 4.x.

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