Re: [Playerstage-users] Roomba users: question regarding bumpers

[Toby C. <tco...@pl...>]

There are also two generic drivers lasersafe and bumpersafe that achieve
this functionality in a general fashion for any robot with a laser or bumper
device...

Toby

On 07/11/2007, Paul Osmialowski <new...@ki...> wrote:
>
>
>
> On Tue, 6 Nov 2007, Reed Hedges wrote:
>
> > Paul Osmialowski wrote:
> >> It's me again. I've realised that whole problem is caused by slow WiFi
> >> link. I've reworked CVS version of the roomba driver (for upcoming
> Player
> >> 2.1): there's a new configuration option called 'bumplock'. When it's
> set
> >> to 1, roomba will stop whenever any of bumpers is closed. Then it can
> only
> >> move backward until bumpers are released. It works fine now and is best
> >> compined with 'safe' option set to 0. The change is a part of a "Big
> >> roomba patch" 1820854 on the Patch Tracker.
> >
> > This is a bit similar to the "bumpstall" feature of the Pioneer [which
> may
> > actually be implemented either in the Player driver, or in the robot's
> firmware,
> > which has a configuration option for it], maybe the two features could
> be combined?
> >
> > Reed
> >
> For now I cannot see how it can be combined. Roomba firmware has
> implemented so called 'safe' mode, which can be started by setting 'safe'
> configuration option to 1 (which is default settings). It's a quite
> disapointing feature: when bumpers are closed, Roomba cannot be unlocked
> without human action. I guess my solution (which may be considered as an
> alternative) is somewhat better: well-written client program can manage
> with situation where roomba cannot go forward (see
> http://vlab.pjwstk.edu.pl/~vlabdemo/cc/roombawalk).
>
> Paul
>
>
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