fakelocalize
[Drivers]
The fakelocalize driver polls a simulation device for 2D ground truth pose data, then reports this data as if it were generated by a localization system. This driver is useful for running software (e.g.,
playernav,
wavefront) that needs a
localize device without incurring the computational cost of actually running a localization algorithm.
- Compile-time dependencies
- Provides
- Requires
- simulation : the device from which to get ground truth
- Configuration requests
- PLAYER_LOCALIZE_SET_POSE_REQ : acknowledged, but ignored
- Configuration file options
- model (string)
- Default: NULL
- Name of simulation model for which we're faking localization.
- Example
driver
(
name "stage"
provides ["6665:simulation:0"]
plugin "libstage"
worldfile "foo.world"
)
driver
(
name "fakelocalize"
provides ["6665:localize:0"]
requires ["6665:simulation:0"]
# a model (probably position) declared in "foo.world"
model "robot0"
)
- Author:
- Brian Gerkey
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Last updated 12 September 2005 21:38:45
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