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nomad [Drivers] The nomad driver controls the Nomadics NOMAD200 robot, and should be easily modified to support close relatives. This driver uses the Nomad-specific nomad interface to talk over a serial port to a robot running Nomadics' robot server program. The nomad interface gives access to most of the Nomad's functionality. This driver also has a set of companion drivers that provide generic (i.e. not robot-specific) Player interfaces. These are: nomad_position (provides position) and nomad_sonar (provides sonar). The companion drivers rely on the nomad driver to talk to the robot, so you MUST instantiate a nomad device in your config file, followed by the devices using the companion drivers. See below for an example config file umentation for the companion drivers for example configfiles. Compile-time dependencies none Provides nomad Requires none Configuration requests none Configuration file options serial_device (string) Default: "/dev/ttyS0" the serial port to which the Nomad is connected. This should match the setting on the robot. serial_speed (integer) Default: 9600 sets the speed (baud rate) of the serial port. This should match the setting on the robot. Example driver ( name "nomad" provides ["nomad:0"] serial_device "/dev/ttyS0" serial_speed "9600" ) driver ( name "nomad_position" requires ["nomad:0"] provides ["position:0"] ) driver ( name "nomad_sonar" requires ["nomad:0"] provides ["sonar:0"] ) Authors Richard Vaughan, Pawel Zebrowski