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khepera [Drivers] The khepera driver is used to interface to the K-Team khepera robot. This driver is experimental and should be treated with caution. At this point it supports the position and ir interfaces. TODO: Add support for position control (currently only velocity control) Add proper calibration for IR sensors Compile-time dependencies none Provides position ir Requires none Supported configuration requests The position interface supports: PLAYER_POSITION_GET_GEOM_REQ PLAYER_POSITION_MOTOR_POWER_REQ PLAYER_POSITION_VELOCITY_MODE_REQ PLAYER_POSITION_RESET_ODOM_REQ PLAYER_POSITION_SET_ODOM_REQ The ir interface supports: PLAYER_IR_POSE_REQ Configuration file options port (string) Default: "/dev/ttyUSB0" Serial port used to communicate with the robot. scale_factor (float) Default: 10 As the khepera is so small the actual geometry doesnt make much sense with many of the existing defaults so the geometries can all be scaled by this factor. encoder_res (float) Default: 1.0/12.0 The wheel encoder resolution. position_pose (float tuple) Default: [0 0 0] The pose of the robot in player coordinates (mm, mm, deg). position_size (float tuple) Default: [57 57] The size of the robot approximated to a rectangle (mm, mm). ir_pose_count (integer) Default: 8 The number of ir poses. ir_poses (float tuple) Default: [10 24 90 19 17 45 25 6 0 25 -6 0 19 -17 -45 10 -24 -90 -24 -10 180 -24 10 180] Poses of the IRs (mm mm deg for each one) Example driver ( name "khepera" provides ["position:0" "ir:0"] ) Authors Toby Collett