Playernav execution, drivers research

Hi!

On Thursday and Friday Arturo, Carlos G. and I began working on the execute the Playernav task.


1.- When trying to execute playernav for the first time we got the following error message:
bash: playernav: command not found

The reason for this error message was that the libgnomecanvas 2-0 was missing so we used the synaptic package manager to install it and the configured it in order to allow its compilation like so:

pkg-config --cflags --libs libgnomecanvas-2.0

We then compiled it in the playernav directory player/utils/playernav with make.

2.- We then opened the wavefront.cfg file and executed ./playernav. We started manipulating the tools provided to draw trayectories and saw that the two main devices used in this tool are localize and planner which we will analyze with more detail later on.

Here is a screenshot of playernav being executed in wavefront.cfg which in fact uses the simple.world





3. The next step was to compare the wavefront.cfg and simple.cfg files in order to find out why isn't playernav executed properly in the latter.

We saw that wavefront cfg has three additional drivers.

• The amcl driver localizes the poses of a robot using data from several sensors. It does it using a filter of particle which increase according to the uncertaainty of the localization.
• The nd driver makes collision avoidance adjusted to non punctual robots in reduced spaces by using several devices like position2d, laser or sonar.
• The wavefront driver creates paths according to the data provided by the devices localize and planner. It also uses very commonly the vfh driver.
• The vfh driver provides both obstacle avoidance and path following capabilities

4. We have been working on the modification of or lab2piso.cfg file (the one with the lab map and the two robots) adding drivers to it. We will continue with this task tomorrow.

5. We will also be working on the create map for Player/Stage task tomorrow. We have already completed the first step and we are now getting familiarized with the amcl and similar drivers so we have an idea on how to complete the second step. However we really need Carlos L. to give us back Pio's HD in order to complete the third step.

Regards!!