7.29 nomad

Authors

Richard T. Vaughan vaughan(at)sfu.com,Pawel Zebrowski pzebrows(at)sfu.ca

Synopsis

The nomad driver connects over a serial port to a Nomad 200 robot running Nomadics' ``robotd'' daemon. Data and commands are handled via the custom nomad interface.

The nomad_position and nomad_sonar drivers provide data in the standard position and sonar interfaces. Position interface provides data, takes commands and supports geometry config. Sonar interface provides data and supports geometry config. This driver is rudimentary but tested and working on the Nomad 200. It may also work on other Nomads that run robotd.

Interfaces

Supported interfaces:

• nomad
• position
• sonar

Required devices:

• None.

Supported configuration requests:

• GET_GEOM (position and sonar)

Configuration file options

nomad:

Name Type Default Meaning

serial_device string "" The serial port to be used

serial_speed int -1 The baud rate to use

nomad_position:

Name Type Default Meaning

nomad_index int 0 The index of the underlying nomad device.

nomad_sonar:

Name Type Default Meaning

nomad_index int 0 The index of the underlying nomad device.

Notes