robotino

FESTO Robotino(R) robot. More...

FESTO Robotino(R) robot.

Driver for the FESTO Robotino(R) robot

This driver makes use of the open C++ libraries bundled with the FESTO Robotino(R) robot, thus providing access to most of the robot's functionalities.

Compile-time dependencies

• none

Provides

• position2d
• bumper
• ir
• power

Requires

• none

Configuration requests

• position2d
  • PLAYER_POSITION2D_REQ_GET_GEOM
  • PLAYER_POSITION2D_REQ_SET_ODOM
  • PLAYER_POSITION2D_REQ_MOTOR_POWER
• bumper
  • PLAYER_BUMPER_REQ_GET_GEOM
• ir :
  • PLAYER_IR_REQ_POSE
• power :
  • PLAYER_POSITION2D_REQ_MOTOR_POWER

Configuration File options

• ROBOTINO_TIMEOUT_MS
  • Default: 5000
  • How long to wait before a communication timeout, in milliseconds -CYCLE_TIME_US
  • Default: 100000
  • How quickly the driver cycles, in microseconds

Example

driver
 (
 name "robotino_driver"
 provides ["position2d:0" "power:0" "bumper:0" "ir:0"]

 # Options
 ROBOTINO_TIMEOUT_MS 5000 #default 5000
 CYCLE_TIME_US 100000     #default 100000
)

#Camera
driver
(
  name "camerav4l"
  provides ["camera:0"]
  port "/dev/video0"
  source 0
  size [176 144]
  mode "RGB888"
)

Authors

Simon Kracht and Carsten Nielsen, Aalborg University, Section for Automation and Control

Date

2007