khepera
[Drivers]
Collaboration diagram for khepera:
|
This driver is experimental and should be treated with caution. At this point it supports the position2d and ir interfaces.
TODO:
- Add support for position control (currently only velocity control)
- Add proper calibration for IR sensors
- Compile-time dependencies
- none
- Provides
- Requires
- none
- Supported configuration requests
- The position2d interface supports:
- PLAYER_POSITION2D_REQ_GET_GEOM
- PLAYER_POSITION2D_REQ_MOTOR_POWER
- PLAYER_POSITION2D_REQ_VELOCITY_MODE
- PLAYER_POSITION2D_REQ_RESET_ODOM
- PLAYER_POSITION2D_REQ_SET_ODOM
- The ir interface supports:
- PLAYER_IR_REQ_POSE
- 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 ["position2d:0" "ir:0"] )