> I have been experimenting with the iRobot Create and I have noticed that the
> robot does not move straightly sometimes, despite the angle is set to 0
> using playerc_position2d_set_cmd_vel. Googling about this, I found that
> there is some "straight bug" in both robots:
> It seems that the "solution" is to "toggle the angle value between 0×8000
> and 0×7fff to get a true straight". However, as far as I understand, the
> playerc_position2d_set_cmd_vel accepts values in radians not in hexadecimal,
> so I do not know how to do that. Can somebody please let me know?
That fix would need to be applied inside the create driver. You can
find this code in player/server/drivers/mixed/irobot/create. Look at
create_set_speeds() in create_comms.c.
And please submit a patch if your changes help!