Re: [Aria-users] help - robot pose

[Reed Hedges <reed@xxxxxxxxxxxxxxxx>]

Marwan Shaker wrote:
> Dear sir 
>  
> i want to ask , i am using ARIA and i wnt to let the robot P3 AT, to go specific loaction for different locations 
>  
> like i want the robot to go to ArPose(4000,0,0) , from  
> 1 - ArPose (100,100,0)
> or from 
> 2 - ArPose (300,10,10)
>  
> but the every timei run the robot it start from position ArPose (0,0,0) ( even if i moved the robot to another location ), how can i get the exact value of the robot position on the simulater, 
>  

The robot's odometric pose always starts at 0,0,0, both in the simulator and all 
real robots.  If you have somehow determined the position of the robot in some 
external coordinate system such as the map, you can change the robot's odometric 
pose using ArRobot::moveTo().  After that, updates to the robot's odometric pose 
will be applied to that position.

You can get the robot's position in the simulator using its special SIMSTAT 
packet. See MobileSim's README for details.  MobileSim also always starts the 
robot at the 0,0,0 point of its map, unless you have a home or dock in the map 
as starting point or use the --start command-line option.

Reed