search

reed-adept / aria-matlab

OUTDATED Matlab and Simulink Interfaces for ARIA -- most up to date code can now be found with the ARIA library package -- see website
http://robots.mobilerobots.com/wiki/ARIA
Other
4 stars 7 forks source link

reset robot position and odometry #12

Open mbegnini opened 9 years ago

mbegnini commented 9 years ago

Hi,

After a simulation, i need to close MobileSim and open again to do the next simulation, because File->Reset Positions do not reset odometry to 0 0 0. I tried to use arrobot_comand(225) and arrobot_comand(7), but did nothing. Any solution?

Thanks!

reed-adept commented 9 years ago

You can use arrobot_resetpos() to reset the odometry. This resets odometry in MobileSim but also resets the pose stored by ARIA using ArRobot::moveTo(0,0,0);

There is also a command to move the simulated real position (true pose) in the simulator, see http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim, but there isn't yet a suitable function in the Matlab interface for sending longer/unusual commands like that. You could add an "arrobot_move_sim_pose(x, y, t)" or similar function to the ariac library and to the Matlab mex functions, or I can add it to our todo list for a future version.

Reed

From: maubegnini notifications@github.com<mailto:notifications@github.com> Reply-To: reed-adept/aria-matlab reply@reply.github.com<mailto:reply@reply.github.com> Date: Thu, 27 Nov 2014 08:39:31 -0800 To: reed-adept/aria-matlab aria-matlab@noreply.github.com<mailto:aria-matlab@noreply.github.com> Subject: [aria-matlab] reset robot position and odometry (#12)

Hi,

After a simulation, i need to close MobileSim and open again to do the next simulation, because File->Reset Positions do not reset odometry to 0 0 0. I tried to use arrobot_comand(224) and arrobot_comand(7), but did nothing. Any solution?

Thanks!

— Reply to this email directly or view it on GitHubhttps://github.com/reed-adept/aria-matlab/issues/12.

mbegnini commented 9 years ago

Thanks for the help Reed.

To solve the problem i rewrite arrobot_resetpos, changing the comand robot->com(ArCommands::SETO); robot->moveTo(ArPose(0, 0, 0), p); to robot->com(ArCommands::SIM_RESET); robot->moveTo(ArPose(0, 0, 0), p); Now it reset the odometry and the real position.

I also tryied to relpace the moveTo for the relocate code, but it didn`t change the true position of the robot.

2014-11-29 10:01 GMT-02:00 Reed Hedges notifications@github.com:

You can use arrobot_resetpos() to reset the odometry. This resets odometry in MobileSim but also resets the pose stored by ARIA using ArRobot::moveTo(0,0,0);

There is also a command to move the simulated real position (true pose) in the simulator, see http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim, but there isn't yet a suitable function in the Matlab interface for sending longer/unusual commands like that. You could add an "arrobot_move_sim_pose(x, y, t)" or similar function to the ariac library and to the Matlab mex functions, or I can add it to our todo list for a future version.

Reed

From: maubegnini notifications@github.com<mailto:notifications@github.com>

Reply-To: reed-adept/aria-matlab <reply@reply.github.com<mailto: reply@reply.github.com>> Date: Thu, 27 Nov 2014 08:39:31 -0800 To: reed-adept/aria-matlab <aria-matlab@noreply.github.com<mailto: aria-matlab@noreply.github.com>> Subject: [aria-matlab] reset robot position and odometry (#12)

Hi,

After a simulation, i need to close MobileSim and open again to do the next simulation, because File->Reset Positions do not reset odometry to 0 0

  1. I tried to use arrobot_comand(224) and arrobot_comand(7), but did nothing. Any solution?

Thanks!

— Reply to this email directly or view it on GitHub< https://github.com/reed-adept/aria-matlab/issues/12>.

— Reply to this email directly or view it on GitHub https://github.com/reed-adept/aria-matlab/issues/12#issuecomment-64949641 .

Mauricio Begnini

reed-adept commented 9 years ago

OK, glad you found a solution. If you want to rename it to a new name, you can do so in libariac, then make a new file with the new function in mex-src, then add it to the list of mex functions in makemex.m.

There is a difference between the robot odometric position provided by either MobileSim or a real robot, the position stored by ARIA (which is related to the robot odometric pose via a transform which is set by the moveTo() function), and a “true” position of the robot which is only represented in MobileSim. Moving the true pose with SIM_RESET or the command I sent earlier is like picking up the real robot and carrying it to a new place. So you need to change the odometry, the true position, and ARIA’s transformed position. SIM_RESET changes the first two to 0,0,0, and moveTo() changes the last.

From: maubegnini [mailto:notifications@github.com] Sent: Monday, December 01, 2014 10:23 AM To: reed-adept/aria-matlab Cc: Reed Hedges Subject: Re: [aria-matlab] reset robot position and odometry (#12)

Thanks for the help Reed.

To solve the problem i rewrite arrobot_resetpos, changing the comand robot->com(ArCommands::SETO); robot->moveTo(ArPose(0, 0, 0), p); to robot->com(ArCommands::SIM_RESET); robot->moveTo(ArPose(0, 0, 0), p); Now it reset the odometry and the real position.

I also tryied to relpace the moveTo for the relocate code, but it didn`t change the true position of the robot.

2014-11-29 10:01 GMT-02:00 Reed Hedges notifications@github.com:

You can use arrobot_resetpos() to reset the odometry. This resets odometry in MobileSim but also resets the pose stored by ARIA using ArRobot::moveTo(0,0,0);

There is also a command to move the simulated real position (true pose) in the simulator, see http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim, but there isn't yet a suitable function in the Matlab interface for sending longer/unusual commands like that. You could add an "arrobot_move_sim_pose(x, y, t)" or similar function to the ariac library and to the Matlab mex functions, or I can add it to our todo list for a future version.

Reed

From: maubegnini notifications@github.com<mailto:notifications@github.com>

Reply-To: reed-adept/aria-matlab <reply@reply.github.com<mailto: reply@reply.github.com>> Date: Thu, 27 Nov 2014 08:39:31 -0800 To: reed-adept/aria-matlab <aria-matlab@noreply.github.com<mailto: aria-matlab@noreply.github.com>> Subject: [aria-matlab] reset robot position and odometry (#12)

Hi,

After a simulation, i need to close MobileSim and open again to do the next simulation, because File->Reset Positions do not reset odometry to 0 0

  1. I tried to use arrobot_comand(224) and arrobot_comand(7), but did nothing. Any solution?

Thanks!

— Reply to this email directly or view it on GitHub< https://github.com/reed-adept/aria-matlab/issues/12>.

— Reply to this email directly or view it on GitHub https://github.com/reed-adept/aria-matlab/issues/12#issuecomment-64949641 .

Mauricio Begnini

— Reply to this email directly or view it on GitHubhttps://github.com/reed-adept/aria-matlab/issues/12#issuecomment-65079607.

mbegnini commented 9 years ago

Thanks for the clarification about the diferent positions Reed. Now I`m having troubles with the robot orientation, It apears that theta is discontinuous. Is there an ARIA configuration so I can use an incremental approach?

2014-12-01 14:36 GMT-02:00 Reed Hedges notifications@github.com:

OK, glad you found a solution. If you want to rename it to a new name, you can do so in libariac, then make a new file with the new function in mex-src, then add it to the list of mex functions in makemex.m.

There is a difference between the robot odometric position provided by either MobileSim or a real robot, the position stored by ARIA (which is related to the robot odometric pose via a transform which is set by the moveTo() function), and a “true” position of the robot which is only represented in MobileSim. Moving the true pose with SIM_RESET or the command I sent earlier is like picking up the real robot and carrying it to a new place. So you need to change the odometry, the true position, and ARIA’s transformed position. SIM_RESET changes the first two to 0,0,0, and moveTo() changes the last.

From: maubegnini [mailto:notifications@github.com] Sent: Monday, December 01, 2014 10:23 AM To: reed-adept/aria-matlab Cc: Reed Hedges Subject: Re: [aria-matlab] reset robot position and odometry (#12)

Thanks for the help Reed.

To solve the problem i rewrite arrobot_resetpos, changing the comand robot->com(ArCommands::SETO); robot->moveTo(ArPose(0, 0, 0), p); to robot->com(ArCommands::SIM_RESET); robot->moveTo(ArPose(0, 0, 0), p); Now it reset the odometry and the real position.

I also tryied to relpace the moveTo for the relocate code, but it didn`t change the true position of the robot.

2014-11-29 10:01 GMT-02:00 Reed Hedges notifications@github.com:

You can use arrobot_resetpos() to reset the odometry. This resets odometry in MobileSim but also resets the pose stored by ARIA using ArRobot::moveTo(0,0,0);

There is also a command to move the simulated real position (true pose) in the simulator, see

http://robots.mobilerobots.com/wiki/Command_To_Relocate_(Move)_Robot_In_MobileSim,

but there isn't yet a suitable function in the Matlab interface for sending longer/unusual commands like that. You could add an "arrobot_move_sim_pose(x, y, t)" or similar function to the ariac library and to the Matlab mex functions, or I can add it to our todo list for a future version.

Reed

From: maubegnini <notifications@github.com<mailto: notifications@github.com>>

Reply-To: reed-adept/aria-matlab <reply@reply.github.com<mailto: reply@reply.github.com>> Date: Thu, 27 Nov 2014 08:39:31 -0800 To: reed-adept/aria-matlab <aria-matlab@noreply.github.com<mailto: aria-matlab@noreply.github.com>> Subject: [aria-matlab] reset robot position and odometry (#12)

Hi,

After a simulation, i need to close MobileSim and open again to do the next simulation, because File->Reset Positions do not reset odometry to 0 0

  1. I tried to use arrobot_comand(224) and arrobot_comand(7), but did nothing. Any solution?

Thanks!

— Reply to this email directly or view it on GitHub< https://github.com/reed-adept/aria-matlab/issues/12>.

— Reply to this email directly or view it on GitHub < https://github.com/reed-adept/aria-matlab/issues/12#issuecomment-64949641>

.

Mauricio Begnini

— Reply to this email directly or view it on GitHub< https://github.com/reed-adept/aria-matlab/issues/12#issuecomment-65079607>.

— Reply to this email directly or view it on GitHub https://github.com/reed-adept/aria-matlab/issues/12#issuecomment-65092292 .

Mauricio Begnini