fakelocalize

Fake localization. More...

Fake localization.

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
• PLAYER_LOCALIZE_REQ_GET_PARTICLES

Configuration file options

• model (string)
  • Default: NULL
  • Name of simulation model for which we're faking localization.

Properties

• sleep_nsec (integer)
  • Default: 100000000
  • timespec value for nanosleep()

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