This is not currently supported.
However here you can find a partial solution.
Here I attached a patch over the stage package which provides a service to change elemental attributes of lasers beams of the robot models. This service can be also a template for further runtime configuration changes.
Example:
import roslib
roslib.load_manifest('stage')
import rospy
import stage.msg
import stage.srv
stage_model_config_srv=rospy.ServiceProxy('/stageros/set_models_configurations',stage.srv.SetModelConfig)
model_config=stage.msg.ModelConfig()
model_config.laser_fov=-1.0
model_config.laser_range_max=-1
model_config.laser_range_min=-1
model_config.laser_resolution=-1
model_config.laser_samples=8
stage_model_config_srv(models_configurations=[model_config])
It was useful for some test bencharks in my research and maybe will be useful for someone else.
But the below diff text is a good resume of the changes made. However the attached patch (rename from it to .diff) C:\fakepath\stage_configuration_service.diff.jpg should be used. It is a bit more verbose (a lot of indentation eclipse-ros format changes)
This patch have been applied over:
URL: https://code.ros.org/svn/ros-pkg/stacks/stage/trunk
Repository Root: https://code.ros.org/svn/ros-pkg
Repository UUID: eb33c2ac-9c88-4c90-87e0-44a10359b0c3
Revision: 38364
Diff text:
Index: msg/ModelConfig.msg
===================================================================
--- msg/ModelConfig.msg (revision 0)
+++ msg/ModelConfig.msg (revision 0)
@@ -0,0 +1,8 @@
+#geometry_msgs/Pose2D laser_pose
+#to maintiain its current value set each config property to -1
+
+int32 laser_samples
+int32 laser_resolution
+float64 laser_fov
+int32 laser_range_max
+int32 laser_range_min
Index: src/stageros.cpp
===================================================================
--- src/stageros.cpp (revision 38364)
+++ src/stageros.cpp (working copy)
@@ -47,6 +47,7 @@
#include
#include "tf/transform_broadcaster.h"
+#include "stage/SetModelConfig.h"
#define USAGE "stageros "
#define ODOM "odom"
@@ -79,6 +80,9 @@
std::vector cmdvel_subs_;
ros::Publisher clock_pub_;
+ ros::ServiceServer models_configurations_service_;
+ bool model_config_callback(stage::SetModelConfig::Request& request, stage::SetModelConfig::Response& response);
+
// A helper function that is executed for each stage model. We use it
// to search for models of interest.
static void ghfunc(Stg::Model* mod, StageNode* node);
@@ -213,9 +217,47 @@
this->laserMsgs = new sensor_msgs::LaserScan[numRobots];
this->odomMsgs = new nav_msgs::Odometry[numRobots];
this->groundTruthMsgs = new nav_msgs::Odometry[numRobots];
+
+ this->models_configurations_service_ = localn.advertiseService("set_models_configurations", &StageNode::model_config_callback, this);
}
+bool StageNode::model_config_callback(stage::SetModelConfig::Request& request, stage::SetModelConfig::Response& response)
+{
+ boost::mutex::scoped_lock lock(msg_lock);
+ if(request.models_configurations.size()>lasermodels.size())
+ {
+ ROS_ERROR("Service stage model config: configurations.count > simulator_models.count");
+ return false;
+ }
+
+ for(unsigned int i=0;ilasermodels[i]->GetConfig();
+ if(current_msg_config.laser_samples!=-1)
+ laser_config.sample_count=current_msg_config.laser_samples; ///SetConfig(laser_config);
+ }
+
+ return true;
+}
+
// Subscribe to models of interest. Currently, we find and subscribe
// to the first 'laser' model and the first 'position' model. Returns
// 0 on success (both models subscribed), -1 otherwise.
Index: srv/SetModelConfig.srv
===================================================================
--- srv/SetModelConfig.srv (revision 0)
+++ srv/SetModelConfig.srv (revision 0)
@@ -0,0 +1,2 @@
+ModelConfig[] models_configurations
+---
\ No newline at end of file
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt (revision 38364)
+++ CMakeLists.txt (working copy)
@@ -22,6 +22,9 @@
include_directories(${STAGE_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include/Stage-3.2)
link_directories(${STAGE_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/lib)
+rosbuild_genmsg()
+rosbuild_gensrv()
+
rosbuild_add_executable(bin/stageros src/stageros.cpp)
rosbuild_link_boost(bin/stageros thread)
Originally posted by Pablo Iñigo Blasco with karma: 2982 on 2011-12-17
This answer was ACCEPTED on the original site
Post score: 1
Original comments
Comment by Pablo Iñigo Blasco on 2011-12-17:
Done. https://code.ros.org/trac/ros-pkg/ticket/5307
Comment by Eric Perko on 2011-12-17:
I suggest you open an enhancement ticket against the stage package and attach the patch to that. That way, this patch won't get lost and may make it into a future release of the stage package. Please update your answer to include that trac link once you create the ticket.
