Re: [Playerstage-developers] RWI import

[Richard V. <va...@hr...>]

Good going, Nik. I'm following this with interest. Brian is currently on
vacation (hopefully far from email) so you won't hear from him
immediately, but we're all very happy that you're working on this.

cheers,
Richard.

On Mon, 17 Jun 2002, Nicholas A. Melchior wrote:

> I've committed my first version of RWI code.  I've made proxies for
> everything that works: position, sonar, laser, bumpers, and power.  It
> compiles without mobility (the RWI closed-source library for talking to
> robots), but it doesn't do anything useful.  Edit
> code/player/Makefile.common to USE_MOBILITY (if you have it). 
> 
> Mobility likes to have a lot of platform-specific defines, so I think some
> Makefile hacking is in order, but it compiles on x86 linux right now.  I
> don't know anything about autoconf/automake, but I hear it's somewhat
> difficult to make the conversion.
> 
> More documentation is forthcoming.
> 
> Matthew, I'd love to have you test this on your robots.  You'll have to
> edit Makefile.common as indicated above, putting USE_MOBILITY in the
> INCLUDED_DEVICES (I can be more descriptive here, if necessary).  Then,
> compile and start a player server like:
> 
>   player -rwi_position:0 "name B21R" -rwi_sonar:0 "name B21R upper"
> 
> replacing B21R with the name mobility uses for your robots (can be found
> at the root of the hierarchy in MOM). The B21R has two rings of sonars
> (and bumpers), so try replacing "upper" with "lower", and let me know
> which one works for you.  I'll make that the default. 
> 
> Thanks,
> 
> -- Nik
> 
> 
> 
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-- 
Richard Vaughan
HRL Laboratories [va...@hr...]