fakelocalize
Drivers

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

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

Last updated 12 September 2005 21:38:45