p2os

ActivMedia mobile robots. More...

ActivMedia mobile robots.

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" gripper
  • Controls gripper (if equipped)

• "lift" actarray
  • Controls a lift on the gripper (if gripper equipped)
  • The lift is controlled by actuator 0. Position 1.0 is up and 0.0 is down.

• "arm" 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.
  • The limb takes pose commands in robot coordinates (offset from the robot's centre, not the limb's base) and returns pose data in the same coordinate space.
  • The kinematics calculator is based on the analytical method by Gan et al. See: J.Q. Gan, E. Oyama, E.M. Rosales, and H. Hu, "A complete analytical solution to the inverse kinematics of the Pioneer 2 robotic arm," Robotica, vol.23, no.1, pp.123-129, 2005.

• "armgrip" gripper
  • Controls the gripper on the end of the arm (if equipped)
  • Good for using in conjunction with the limb

• bumper
  • Returns data from bumper array (if equipped)

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

• ptz
  • Controls a Canon VCC4 PTZ camera connected to the AUX2 port on the P2OS board (if equipped).

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

Supported configuration requests

• "odometry" position2d :
  • PLAYER_POSITION2D_REQ_SET_ODOM
  • PLAYER_POSITION2D_REQ_MOTOR_POWER
  • PLAYER_POSITION2D_REQ_RESET_ODOM
  • PLAYER_POSITION2D_REQ_GET_GEOM
  • PLAYER_POSITION2D_REQ_VELOCITY_MODE
• sonar :
  • PLAYER_SONAR_REQ_POWER
  • PLAYER_SONAR_REQ_GET_GEOM
• bumper :
  • PLAYER_BUMPER_REQ_GET_GEOM
• blobfinder :
  • PLAYER_BLOBFINDER_REQ_SET_COLOR
  • PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS

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
• aa_basepos (3 floats)
  • Default: (0.105, 0, 0.3185)
  • Position of the base of the arm from the robot centre in metres.
• aa_baseorient (3 floats)
  • Default: 0, 0, 0
  • Orientation of the base of the arm from the robot centre in radians.
• aa_offsets (6 floats)
  • Default: (0.06875, 0.16, 0, 0.13775, 0.11321, 0)
  • Offsets for the actarray. Taken from current actuator to next actuator. Each offset is a straight line, not measured per axis.
• aa_orients (3x6 floats)
  • Default: all zero
  • Orientation of each actuator when it is at 0. Measured by taking a line from this actuator to the next and measuring its angles about the 3 axes of the previous actuator's coordinate space.
  • Each set of three values is a single orientation.
• aa_axes (3x6 floats)
  • Default: ((0,0,-1), (0,-1,0), (0,-1,0), (1,0,0), (0,1,0), (0,0,1))
  • The axis of rotation for each joint in the actarray.
  • Each set of three values is a vector along the axis of rotation.
• limb_pos (3 floats)
  • Default: (0.105, 0, 0.3185)
  • 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.
  • The default is correct for the standard Pioneer arm at time of writing.
• limb_offsets (5 floats, metres)
  • Default: (0, 0, 0, 0, 0)
  • Angular offset of each joint from desired position to actual position (calibration data).
  • Possibly taken by commanding joints to 0rad with actarray interface, then measuring their actual angle.
• gripper_pose (6 floats - 3 in metres, 3 in rads)
  • Default: (0, 0, 0, 0, 0, 0)
  • 3D pose of the standard gripper
• gripper_outersize (3 floats, metres)
  • Default: (0.315, 0.195, 0.035)
  • Size of the outside of the standard gripper
• gripper_innersize (3 floats, metres)
  • Default: (0.205, 0.095, 1.0)
  • Size of the inside of the standard gripper's fingers when fully open, i.e. the largest object it can pick up.
• armgrip_outersize (3 floats, metres)
  • Default: (0.09, 0.09, 0.041)
  • Size of the outside of the arm's gripper
• armgrip_innersize (3 floats, metres)
  • Default: (0.054, 0.025, 1.0)
  • Size of the inside of the arm's gripper (largest object it can hold)
• ignore_checksum (boolean)
  • Default: False (no effect)
  • If set to True, the checksum will be ignored

Example

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

Author:

Brian Gerkey, Kasper Stoy, James McKenna