From: Piotr G. <wi...@o2...> - 2007-06-12 18:01:07
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Hi, I have a few questions. Is it true that position.GoTo(x,y,th) or playerc_position2d_cmd_pose(position,x,y,th,1) cannot cooperate with real Pioneer2DX ? It sounds strange to me. I don't want to set a global position but only locally to the actual robot's position. For example: go 200 straight and 30 left. I want to use VFH but if my robot does not accept position commands then how can I use VFH? Please help. Thanks Piotr |
From: Brian G. <br...@ge...> - 2007-06-22 17:53:49
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On Jun 12, 2007, at 11:01 AM, Piotr G. wrote: > I have a few questions. Is it true that position.GoTo(x,y,th) or > playerc_position2d_cmd_pose(position,x,y,th,1) cannot cooperate > with real > Pioneer2DX ? It sounds strange to me. I don't want to set a global > position > but only locally to the actual robot's position. For example: go 200 > straight and 30 left. Although the Pioneer can do position control (I think), the Player p2os driver only supports velocity control (SetSpeed() in C++). > I want to use VFH but if my robot does not accept > position commands then how can I use VFH? You can very easily use vfh with a Pioneer. Player's vfh driver accepts position commands and generates velocity commands to the robot. The vfh driver also accepts velocity commands, passing them through to the robot. brian. |
From: Radu B. R. <ru...@cs...> - 2007-06-22 18:27:53
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Brian Gerkey wrote: > Although the Pioneer can do position control (I think), the Player > p2os driver only supports velocity control (SetSpeed() in C++). I have a fix for this: I'll commit a positionercontrol soon which will provide a reliable PID position and heading control for anything that can be controller over position2d. It's about time anyway... it's been sitting in here for too long. :) -- | Radu Bogdan Rusu | http://rbrusu.com/ | http://www9.cs.tum.edu/people/rusu/ | Intelligent Autonomous Systems | Technische Universitaet Muenchen |