obot
[Drivers]
Collaboration diagram for obot:
|
- Compile-time dependencies
- none
- Provides
- Requires
- none
- 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"] )