hemisson

K-Team Hemisson mobile robot. More...

K-Team Hemisson mobile robot.

The hemisson driver is used to interface to the K-Team hemisson robot.

This driver is experimental and should be treated with caution. At this point it supports the position2d and ranger interfaces.

This driver was tested with RS-232C cable link (for example /dev/ttyS0) and bluetooth radio link (/dev/rfcomm0 or /dev/ttyUB0).

Compile-time dependencies

• none

Provides

• position2d
• ranger

Requires

• none

Configuration file options

• port (string)
  • Default: "/dev/rfcomm0"
  • Serial port used to communicate with the robot.
• sleep_nsec (integer)
  • Default: 100000000
  • timespec value for nanosleep().
• init_motor_state (integer)
  • Default: 0
  • Initial motor state.
• speed_factor (float)
  • Default: 18.0
  • Speed scale factor.
• aspeed_factor (float)
  • Default: 16.0
  • Angular speed scale factor.
• publish_ranges (integer)
  • Default: 8
  • Vaild values: 1..8
  • Number of ranger scans to publish.
• set_stall (integer)
  • Default: 0
  • If set to non-zero, stall field of provided position2d interface will be filled according to sensor readings.
• stall_threshold (float)
  • Default: 0.025
  • Distance below this value causes robot to be stalled.

Since initialization routine takes some time to do its job, it may be worth to set alwayson to 1, as some libplayerc client programs may refuse to work due to communication timeout at the startup.

Example

driver
(
  name "hemisson"
  provides ["position2d:0" "ranger:0"]
  port "/dev/ttyS1"
  alwayson 1
)

Author

Paul Osmialowski based on Khepera driver by Toby Collett