nomad

NOMAD 200 driver. More...

NOMAD 200 driver.

The nomad driver controls the Nomadics NOMAD200 robot, and should be easily modified to support close relatives.

In order for you to use the driver, you must first open the Nserver program in a computer. If you'd like to use the driver to control a real nomad, make sure that the Nserver can connect to the robot (check the NOMAD 200 user's manual for information on how to this). If you want to use the real robot and you are running Nserver on Nomad, you can just run Nserver with the setup files that came with it. Before running player, you should ld the module i200m (modprobe i200m), run i200minit and then run robotd.

Provides

The p2os driver provides the following device interfaces, some of them named:

• position2d
• bumper
• sonar
• ir
• "turret" position1d
• "compass" position1d

Configuration file options

• NOMAD_TIMEOUT_S (integer)
  • Default: 5
  • time (s) between commands to the server that shuts down the nomad - must be bigger than cycle time
• CYCLE_TIME_US (integer)
  • Default: 100000
  • time (us) between reading cycles
• NOMAD_MAX_VEL_TRANS (integer)
  • Default: 200
  • maximum translational speed allowed (tenths of inch/s)
• NOMAD_MAX_ACC_TRANS (integer)
  • Default: 300
  • maximum translational acceleration allowed (tenths of inch/s²)
• NOMAD_MAX_VEL_STEER (integer)
  • Default: 450
  • maximum steering and turret speed allowed (tenths of degree/s)
• NOMAD_MAX_ACC_STEER (integer)
  • Default: 300
  • maximum steering and turret acceleration allowed (tenths of degree/s²)
• REAL_ROBOT (integer)
  • Default: 3
  • specifies whether to use real robot (0), same state that's configured in Nserver (3) or simulated robot(other)
• LOCKED (integer)
  • Default: 1
  • specifies whether the turret movement is locked (1) with the base movement or not (0)
  • LOCKED must be set to one in order to instantiate the turret control
• ZERO (integer)
  • Default: 1
  • specifies whether to zero (1) the robot on startup or not (0)
  • if you do set ZERO to 1, be sure that there's enough room around the robot when starting player
• HOST (string)
  • Default: "localhost"
  • the name of the computer running Nserver
• PORT (integer)
  • Default: 7019
  • the port of HOST in which Nserver is listening

Example

driver
(
  name "nomad_driver"
  provides ["position2d:0" "bumper:0" "sonar:0" "ir:0" "turret:::position1d:0" "compass:::position1d:1"]

  # Options
  NOMAD_TIMEOUT_S 5
  CYCLE_TIME_US 100000
  NOMAD_MAX_VEL_TRANS 200
  NOMAD_MAX_ACC_TRANS 300
  NOMAD_MAX_VEL_STEER 450
  NOMAD_MAX_ACC_STEER 300
  REAL_ROBOT 3
  LOCKED 1
  ZERO 1
  HOST "localhost"
  PORT 7019
)

Author

Víctor Campos