Supported config requests
struct player_position3d_data :
The position3d interface returns data regarding the odometric pose and
velocity of the robot, as well as motor stall information; the format is:
| int32_t xpos, ypos, zpos; |
X, Y, and Z position, in mm
| int32_t roll, pitch, yaw; |
Roll, pitch, and yaw, in arc-seconds (1/3600 of a degree)
| int32_t xspeed, yspeed, zspeed; |
X, Y, and Z translational velocities, in mm/sec
| int32_t rollspeed, pitchspeed, yawspeed; |
Angular velocities, in arc-seconds / second
| uint8_t stall; |
Are the motors stalled?
struct player_position3d_cmd :
The position3d interface accepts new positions and/or velocities
for the robot's motors (drivers may support position control, speed control,
or both); the format is
| int32_t xpos, ypos, zpos; |
X, Y, and Z position, in mm
| uint32_t roll, pitch, yaw; |
Roll, pitch, and yaw, in arc-seconds (1/3600 of a degree)
| int32_t xspeed, yspeed, zspeed; |
X, Y, and Z translational velocities, in mm/sec
| int32_t rollspeed, pitchspeed, yawspeed; |
Angular velocities, in arc-seconds / second
struct player_position3d_power_config :
On some robots, the motor power can be turned on and off from software.
To do so, send a request with the format given below, and with the
appropriate state (zero for motors off and non-zero for motors on).
The server will reply with a zero-length acknowledgement.
Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.
| uint8_t request; |
subtype; must be PLAYER_POSITION_MOTOR_POWER_REQ
| uint8_t value; |
0 for off, 1 for on