7.35 rwi

Authors

Andy Martignoni III ajm7(at)cs.wustl.edu,Nik Melchior

Synopsis

The rwi_* family of drivers are used to control RWI robots using RWI's Mobility software. To date, these drivers have been tested on the B21r, but they should work with other Mobility-controlled robots.

Note: This documentation may be incomplete and/or wrong, because I (brian) didn't write the driver. Comments and corrections from users are welcome.

Interfaces / Configuration requests

Although all the Mobility interaction is actually done in a single thread, the different Mobility devices are accessed through different Player drivers, each supporting a different interface and supporting some subset of configuration requests:

• rwi_bumper:
  • Interface: bumper (see Section 6.8)
  • Configurations: none
  • Notes: Provides access to RWI bumpers, for those robots so equipped.
• rwi_laser:
  • Interface: laser (see Section 6.16)
  • Configurations: none
  • Notes: Provides access to Mobility-controlled laser range-finder, for those robots so equipped.
• rwi_position:
  • Interface: position (see Section 6.19)
  • Configurations: GET_GEOM, MOTOR_POWER, RESET_ODOM
  • Notes: Provides access to a synchro-drive wheelbase. Only speed control is supported.
• rwi_power:
  • Interface: power (see Section 6.21)
  • Configurations: none
  • Notes: Provides access to battery charge information.
• rwi_sonar:
  • Interface: sonar (see Section 6.23)
  • Configurations: GET_GEOM, POWER
  • Notes: Provides access to a sonar array.

Configuration file options

Name Type Default Meaning

name string "B21R" The name of the robot to which Player should connect