If I understand the AT low level control commands correctly, there are two
modes for controlling the AT that allow either combined (via p2os VEL2
commands) or seperate rotational (RVEL) and translational (VEL) control.
The AT doesn't turn very well with VEL2 commands and will not turn on the
spot unless the surface is slippery. This is the mode you are probably
using for player. The other mode allows the robot to turn on the spot
since the turn command is specified seperately from the drive command.
This was probably the mode you were using in ARIA.
For you current configuration, try increasing the requested velocity
and/or decreasing the turn rate. Alternatively, if you need to make the
robot turn on the spot, you can try changing the velocity mode in the
player config file so it uses independent mode - check the documentation
under p2os. I don't know how well this mode works since I haven't tried
Postdoc Research Associate and System Administrator
USC Robotics Laboratory
Henry Salvatori Computer Science Centre
University of Southern California
On Thu, 8 Jul 2004, Fred Labrosse wrote:
> As you may have seen from my previous email, I just tried player on a P2AT
> for the first time (also first time on a real robot). Many problems, some
> (all?) related to network traffic.
> Something not very good at all is the turning. Under Aria, I can turn the
> robot on the spot without any problem. With player, as soon as I try to
> turn, it stops. And no turning on the spot. This is using a client I
> wrote and also with playerv.
> Any idea on what might be wrong? Could it be something badly specified in
> a config file of the robot?
> P.S. I'm currently trying to switch from ARIA to player as I'm not totally
> happy with ARIA and was hopping to have this little program working for a
> demo next week (Tuesday), so I'm a bit desperate. ;-).
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