I have a little problem with the position command.

 

I have a Segway RMP (http://rmp.segway.com/rmp-50-omni/) and I try to give it a “go to position” command via the vfh driver.

When steering using playerv with the vfh’s position2d device using only the command option everything works just fine, the segway receives its commands and acts accordingly (setting x velocity and turnrate).

When I use the Position Mode to send it to a certain location, the segway still says it is getting the commands (setting x velocity and turnrate) but doesn’t move at all.

 

Any suggestions on where the problem might be?

 

Thank you for your help

Hans

 

 

Don’t know if it helps, but here is my .cfg :

 

driver

(

   name "segwayrmp"

   provides ["position2d:2" "power:0" ]

   bus "usb"

   usb_device "/dev/ttyUSB0"

   max_xspeed 3.0

   max_yawspeed 60

   alwayson 1 

)

 

driver

(

   name "segwayrmp"

   provides ["position2d:1" "power:1" ]

   bus "usb"

   usb_device "/dev/ttyUSB1"

   max_xspeed 3.0

   max_yawspeed 60

   alwayson 1 

)

 

driver

(

  name "segwayrmp400"

  provides ["position2d:0" ]

  requires ["front2d:::position2d:1" "back2d:::position2d:2"]

  fullspeed_data 1

)

 

driver

(

   name "hokuyo_aist"

   provides [ "ranger:0" ]

   portopts "type=serial,device=/dev/ttyACM0,timeout=1,baud=115200"

   pose [ 0.36 0.0 0.10 3.14 0.0 0.0]       

   baud_rate 115200

   min_angle -1.57079

   max_angle 1.57079

   alwayson 1

)

 

driver

(

  name "mapfile"

  provides ["6665:map:0"]

  filename "umgebung.png"

  resolution 0.02 # meters per pixel

)

 

driver

(

  name "rangertolaser"

  requires ["ranger:0"] # read from ranger:0

  provides ["laser:0"] # output results on laser:0

)

 

driver

(

  name "amcl"

  provides ["localize:0" "position2d:4"]

  requires ["odometry:::position2d:0" "laser:0" "laser:::map:0"]

  )

 

driver

(

  name "vfh"

  provides ["position2d:3"]

  requires ["position2d:0" "laser:0"]

  distance_epsilon 0.1

  angle_epsilon 5

)

 

driver

(

  name "wavefront"

  provides ["6665:planner:0"]

  requires ["output:::position2d:3" "input:::position2d:4" "map:0"]

  distance_epsilon 0.1

  angle_epsilon 5

  alwayson 1

)