reset robot position and odometry

[mbegnini]

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]

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.commailto:notifications@github.com>
Reply-To: reed-adept/aria-matlab <reply@reply.github.commailto:reply@reply.github.com>
Date: Thu, 27 Nov 2014 08:39:31 -0800
To: reed-adept/aria-matlab <aria-matlab@noreply.github.commailto: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//issues/12.

[mbegnini]

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.commailto: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 GitHub<
https://github.com/reed-adept/aria-matlab/issues/12>.

—
Reply to this email directly or view it on GitHub
#12 (comment)
.

Mauricio Begnini

[reed-adept]

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.commailto: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 GitHub<
https://github.com/reed-adept/aria-matlab/issues/12>.

—
Reply to this email directly or view it on GitHub
#12 (comment)
.

Mauricio Begnini

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

[mbegnini]

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
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 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
#12 (comment)
.

Mauricio Begnini