Raúl
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Re:logged differential drive - 2008/10/12 13:42
I see what you've done  That is really the quick way, however, you are depending on the simulation environment, which you don't really need. If you're going to use your log reader service extensively you should get rid of the simulated sonar entity and raytracing stuff..
Regarding the differential drive stuff, if I understood it correctly, you just need to update pose and orientation from a log file, right? Then, why do you need any interfacing with the differential drive at all?? If you are building a mapping service that takes as input either the sonar data (from your sonar data log reader) and pose (from your pose data log reader), you don't need to rely in any diff drive. As I see it, you just need to write a service that posts pose updates.
Now the problem you have in synchronization: in order to build a correct map you need to know which pose corresponds to which sonar reading. Do you have a timestamp in your log file? If so, you could use the time stamp to associate sonar and pose data. Otherwise, you could just try and sych sonar and pose data retrieval... But get some sleep before trying this! 
Raúl Arrabales Moreno. conscious-robots.com/raul |
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