p2os
[Drivers]

Many robots made by ActivMedia, such as the Pioneer series and the AmigoBot, are controlled by a microcontroller that runs a special embedded operating system called P2OS (aka AROS, PSOS). The host computer talks to the P2OS microcontroller over a standard RS232 serial line. This driver offer access to the various P2OS-mediated devices, logically splitting up the devices' functionality.

Compile-time dependencies

none

Provides

The p2os driver provides the following device interfaces, some of them named:

"odometry" position2d
- This interface returns odometry data, and accepts velocity commands.

"compass" position2d
- This interface returns compass data (if equipped).

"gyro" position2d
- This interface returns gyroscope data (if equipped).

power
- Returns the current battery voltage (12 V when fully charged).

sonar
- Returns data from sonar arrays (if equipped)

aio
- Returns data from analog I/O ports (if equipped)

dio
- Returns data from digital I/O ports (if equipped)

gripper
- Controls gripper (if equipped)

actarray
- Controls arm (if equipped)
- This driver does not support the player_actarray_speed_cmd and player_actarray_brakes_config messages.

limb
- Inverse kinematics interface to arm
- This driver does not support the player_limb_setposition_cmd, player_limb_vecmove_cmd, player_limb_brakes_req and player_limb_speed_req messages.
- The approach vector is forward along the gripper with the orientation vector up from the gripper's centre.

bumper
- Returns data from bumper array (if equipped)

blobfinder
- Controls a CMUCam2 connected to the AUX port on the P2OS board (if equipped).

sound
- Controls the sound system of the AmigoBot, which can play back recorded wav files.

Supported configuration requests

"odometry" position2d :
- PLAYER_POSITION_SET_ODOM_REQ
- PLAYER_POSITION_MOTOR_POWER_REQ
- PLAYER_POSITION_RESET_ODOM_REQ
- PLAYER_POSITION_GET_GEOM_REQ
- PLAYER_POSITION_VELOCITY_MODE_REQ
sonar :
- PLAYER_SONAR_POWER_REQ
- PLAYER_SONAR_GET_GEOM_REQ
bumper :
- PLAYER_BUMPER_GET_GEOM
blobfinder :
- PLAYER_BLOBFINDER_SET_COLOR_REQ
- PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ

Configuration file options

port (string)
- Default: "/dev/ttyS0"
use_tcp (boolean)
- Defaut: 0
- Set to 1 if a TCP connection should be used instead of serial port (e.g. Amigobot with ethernet-serial bridge device attached)
tcp_remote_host (string)
- Default: "localhost"
- Remote hostname or IP address to connect to if using TCP
tcp_remote_port (integer)
- Default: 8101
- Remote port to connect to if using TCP
- Serial port used to communicate with the robot.
radio (integer)
- Default: 0
- Nonzero if a radio modem is being used; zero for a direct serial link. (a radio modem is different from and older than the newer ethernet-serial bridge used on newer Pioneers and Amigos)
bumpstall (integer)
- Default: -1
- Determine whether a bumper-equipped robot stalls when its bumpers are pressed. Allowed values are:
  - -1 : Don't change anything; the bumper-stall behavior will be determined by the BumpStall value stored in the robot's FLASH.
  - 0 : Don't stall.
  - 1 : Stall on front bumper contact.
  - 2 : Stall on rear bumper contact.
  - 3 : Stall on either bumper contact.
pulse (float)
- Default: -1
- Specify a pulse for keeping the robot alive. Pioneer robots have a built-in watchdog in the onboard controller. After a timeout period specified in the robot's FLASH, if no commands have been received from the player server, the robot will stop. By specifying a positive value here, the Player server will send a regular pulse command to the robot to let it know the client is still alive. The value should be in seconds, with decimal places allowed (eg 0.5 = half a second). Note that if this value is greater than the Pioneer's onboard value, it will still time out.
- Specifying a value of -1 turns off the pulse, meaning that if you do not send regular commands from your client program, the robot's onboard controller will time out and stop.
- WARNING: Overriding the onboard watchdog is dangerous! Specifying -1 and writing your client appropriately is definitely the preffered option!
joystick (integer)
- Default: 0
- Use direct joystick control
direct_wheel_vel_control (integer)
- Default: 1
- Send direct wheel velocity commands to P2OS (as opposed to sending translational and rotational velocities and letting P2OS smoothly achieve them).
max_xspeed (length)
- Default: 0.5 m/s
- Maximum translational velocity
max_yawspeed (angle)
- Default: 100 deg/s
- Maximum rotational velocity
max_xaccel (length)
- Default: 0
- Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value.
max_xdecel (length)
- Default: 0
- Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value.
max_yawaccel (angle)
- Default: 0
- Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value.
rot_kp (integer)
- Default: -1
- Rotational PID setting; proportional gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
rot_kv (integer)
- Default: -1
- Rotational PID setting; derivative gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
rot_ki (integer)
- Default: -1
- Rotational PID setting; integral gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
trans_kp (integer)
- Default: -1
- Translational PID setting; proportional gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
trans_kv (integer)
- Default: -1
- Translational PID setting; derivative gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
trans_ki (integer)
- Default: -1
- Translational PID setting; integral gain. Negative means use the robot's default value.
- Requires P2OS1.M or above
max_yawdecel (angle)
- Default: 0
- Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value.
use_vel_band (integer)
- Default: 0
- Use velocity bands
limb_pos (3 floats)
- Default: 0, 0, 0
- Position of the base of the arm from the robot centre in metres.
limb_links (5 floats)
- Default: 0.06875, 0.16, 0, 0.13775, 0.11321
- Offset from previous joint to this joint in metres. e.g. the offset from joint 0 to joint 1 is 0.06875m, and from joint 1 to joint 2 is 0.16m.
limb_offsets (5 floats)
- Default: 0, 0, 0, 0, 0
- Angular offset of each joint from desired position to actual position (calibration data).
- Taken by commanding joints to 0rad with actarray interface, then measuring their actual angle.

Example

driver
(
  name "p2os"
  provides ["odometry::position:0" "compass::position:1" "sonar:0" "power:0"]
)

Author:: Brian Gerkey, Kasper Stoy, James McKenna

Last updated 12 September 2005 21:38:45

p2os [Drivers]

p2os
[Drivers]