fakelocalize
[Drivers]

Collaboration diagram for fakelocalize:

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

none

Provides

localize
position2d (optionally)

Requires

simulation : the device from which to get ground truth

Configuration requests

PLAYER_LOCALIZE_REQ_SET_POSE : 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

Last updated 12 September 2005 21:38:45

fakelocalize [Drivers]

fakelocalize
[Drivers]