On 07/31/2012 11:45 AM, Nuno Moutinho
I've got the Player running for the Segway RMP but I can only
control it through velocity. I use the Position2dProxy to
control the segway but I'm not able to use the GoTo function. I
can only use the SetSpeed function.
When using the other function the segway just doesn't move. Do
you have any idea why?
My driver conf file was set like this:
provides ["position2d:0" "position3d:0" "power:0" "ui:::power:1"]
Do I need to include anything else to the conf file?
Thank you for your help,
The segwayrmp driver doesn't support any of the position control
commands, only velocity control commands. Drivers pick and choose
which interface commands to implement, and drivers that talk to
hardware generally don't support position control unless the
underlying device has position control build into the hardware. To
avoid implementing a position controller for every hardware device
that doesn't implement one by itself, we instead use local planner
drivers like vfh, nd, snd, or goto to handle position control.
Assuming your underlying position device is reporting accurate
position information (I believe the Segway's position information is
pretty good,) any of these drivers will handle issuing the correct
velocity commands to drive your robot to a desired position. The
goto driver is the simplest, the other drivers add things like