obot

Botrics Obot mobile robot. More...

Botrics Obot mobile robot.

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

• none

Provides

• position2d
• power

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"]
)

Author:

Brian Gerkey