Cannot reset robot position in stage_ros

[heleidsn]

Hi, I am very interested in this work and thank you very much for open source the code. I want to repeat the experiment. But I find two problems:

1. I cannot reset the robot position:
   

   rl-navigation/scripts/train_cpo.py

   Line 156 in a1831d8

   environment.set_robot_pose([robot_position[0],robot_position[1],0.025], [0,0,robot_orientation])

   
   It doesn't work.

2. I cannot receive the stalled message:
   

   rl-navigation/scripts/environments/base_environment.py

   Line 155 in a1831d8

   rospy.Subscriber("/stalled", Int8, self.update_robot_stall_data)

I used the Stage-ros simulator branch with add_pose_sub enabled as mentioned in Readme.
I guess it is because of this stage_ros branch is not up to date.

Did you do some modification on the stage_ros code? Where can I get the lasted stage_ros code which can set position?

Looking for your reply! Thank you.

[heleidsn]

Problem fixed according to
ros-simulation/stage_ros#39
and
ros-simulation/stage_ros#42

Issues closed...

[minded-hua]

Hello, I ran the code but met a problem.
The problem is that the loaded robot model can't run within the map.
I guess it's caused by that the coordinate system's origin of /odom and /map is mismatching, however I can't solve it.

Can you help me? Looking forward to your reply. Thanks.