7.21 khepera

Authors

Toby Collett t.collett(at)auckland.ac.nz

Synopsis

The khepera_* family of drivers are 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 position and ir interfaces.

Interfaces / Configuration requests

Like the P2OS device, one thread handles 2 separate devices: position and IR.

• khepera_position
  • Interface: position (see Section 6.19)
  • Configurations: GET_GEOM, MOTOR_POWER, VELOCITY_MODE, RESET_ODOM

• khepera_ir
  • Interface: ir (see Section 6.15)
  • Configurations: POSE

Configuration file options

Table 7.1 lists the available configuration file options for the Khepera device. If an option is specified more than once in the config file, then only the first value will be used.

Table: Configuration file options for the khepera_* drivers.

Name Type Default Supported by Values Meaning

port string /dev/ttyUSB0 khepera_* This port connects to the Khepera.

scale float 10 khepera_* 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.

pose float tuple [0 0 0] khepera_position The pose of the robot in player coordinates (mm, mm, deg).

size float tuple [57 57] khepera_position The size of the robot approximated to a rectangle (mm, mm).

poses float tuple Khepera poses khepera_ir The pose of each ir sensor [mm,mm,deg]