fakelocalize

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 interface_localize device without incurring the computational cost of actually running a localization algorithm.

Compile-time dependencies
  • none
Provides
  • interface_localize
  • interface_position2d (optionally)
Requires
  • interface_simulation : the device from which to get ground truth
Configuration requests
  • PLAYER_LOCALIZE_REQ_SET_POSE : acknowledged, but ignored
  • PLAYER_LOCALIZE_REQ_GET_PARTICLES
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