Raúl
Moderador
Moderador
| Mensajes: 444 |  |
Karma: 6
|
Re:how do i "pass" data to other services? - 2008/10/09 20:48
Yes, your control service will have to subscribe to a pose estimation service in order to retrieve localization data. Actually, the way you are corrently getting the pose is a trick that can only be done in the simulator, and doesn't scale to the real world (I am doing the same trick by the way  ).
Normally, in a real world environment you would apply any SLAM algorithm (Simultaneous Localization and Mapping) taking as input data from the wheel encoders. However, in your case you will replace the SLAM algorithm by a source of already calculated data, which is your log file. Again, this way of organizing the services allow you to write a generic control service independently of the source of your localization data: it could be either the localization log reader or a real pose estimation service. You could even define a new generic service for a SLAM service following an analogous strategy as you followed with the Sonar stuff...
Raúl Arrabales Moreno. conscious-robots.com/raul |
Foros... 
Fuente RSS de Conscious Robots
