The obot driver controls the Obot robot, made by Botrics. It's a small, very fast robot that can carry a SICK laser (talk to the laser over a normal serial port using the
sicklms200 driver).
- Compile-time dependencies
- Provides
- Requires
- Supported commands
- PLAYER_POSITION2D_CMD_VEL
- PLAYER_POSITION2D_CMD_CAR
- Supported configuration requests
- PLAYER_POSITION2D_REQ_GET_GEOM
- PLAYER_POSITION2D_REQ_SET_ODOM
- PLAYER_POSITION2D_REQ_RESET_ODOM
- Configuration file options
- offset (length tuple)
- Default: [0.0 0.0 0.0]
- Offset of the robot's center of rotation
- size (length tuple)
- Default: [0.45 0.45]
- Bounding box (length, width) of the robot
- port (string)
- Default: "/dev/usb/ttyUSB1"
- Serial port used to communicate with the robot.
- max_speed (length, angle tuple)
- Default: [0.5 40.0]
- Maximum (translational, rotational) velocities
- max_accel (integer)
- Default: 5
- Maximum acceleration/deceleration (units?)
- motors_swapped (integer)
- Default: 0
- If non-zero, then assume that the motors and encoders connections are swapped.
- car_angle_deadzone (angle)
- Default: 5.0 degrees
- Minimum angular error required to induce servoing when in car-like command mode.
- car_angle_p (float)
- Default: 1.0
- Value to be multiplied by angular error (in rad) to produce angular velocity command (in rad/sec) when in car-like command mode
- watchdog_timeout (float, seconds)
- Default: 1.0
- How long since receiving the last command before the robot is stopped, for safety. Set to -1.0 for no watchdog (DANGEROUS!).
- Example
driver
(
name "obot"
provides ["position2d:0"]
)
- Author:
- Brian Gerkey
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Last updated 12 September 2005 21:38:45
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