[ros-users] Stage with Pioneer

[Brian Gerkey]

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.

	brian.