From: Brian Gerkey <gerkey@ai...> - 2004-07-23 19:01:16
Following up on the recent talk about standardizing units, I've just
applied a patch from Brad (thanks!) that changes the units in the
position3d interface to mm/mrad. The position interface hasn't been
changed yet, because of the other changes that will be required. In the
interim, there's a new position2d interface that uses the now-standard
Anything on the server side that uses position3d (e.g., Gazebo, segwayrmp)
needs to be changed to use the new units.
There's also a new motor interface, which provides control of a single
motor, and a spec for sending commands to a dio device. I've appended
Brad's note below.
Brian P. Gerkey gerkey@...
Stanford AI Lab http://ai.stanford.edu/~gerkey
---------- Forwarded message ----------
Date: Thu, 22 Jul 2004 17:43:39 +0200
Subject: RE: new interfaces & bigmess
Here is the patch I worked on with the new interface (motor, position2d)
and the angular conversions. I didn't change the position interface,
but instead created the position2d one, so we wouldn't break everything.
I changed the client libraries in c & c++. Please let me know if you
have any questions.
I also slipped in a digital output command for the digital io interface.