SimLocaliser
[Components, Stand-Alone Components, IceBox Services, C++, Linux, QNX]

Produces simulated localisation. More...

Produces simulated localisation.

Provides

• orca_interface_home
• orca_interface_localise2d [SimLocaliser.Provides.Localise2d]
• orca_interface_status

Requires

• none

Drivers

• static Static position driver
• stage Stage simulator driver (does not currently work)

Operation

This component simulates localisation information internally or talks to an external simulator.

Configuration

None.

An example configuration file is installed into [ORCA-INSTALL-DIR]/share/orca/cfg/ directory.

Static position driver

This one simply sends out the pose given in the config file with some made-up uncertainty (this may be added to the config file in the future).

Extra configuration

• SimLocaliser.Config.Static.Pose (Frame2d) [m,m,deg]
  • The pose which will be reported as a single localization hypothesis.
  • Default: [0.0 0.0 0.0]

Stage simulator driver

Talks to Stage Simulation interface. Unfortunately, this does NOT seem to work as of Stage 2.0.0.

Extra configuration

• SimLocaliser.Config.Stage.Host (string)
  • The host that Player (or Stage) is running on
  • Default: "localhost"
• SimLocaliser.Config.Stage.Port (int)
  • The port that PLayer (or Stage) is running on
  • Constraints: >0
  • Default: 6665
• SimLocaliser.Config.Stage.Id (string)
  • The ID of the Simulation object.
  • Default: "model1"

Authors

Alex Makarenko