khepera

K-Team Khepera mobile robot. More...

K-Team Khepera mobile robot.

The khepera driver is used to interface to the K-Team khepera robot.

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

• position2d
• ir

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"]
)

Author:

Toby Collett