From: Suraj S. <sur...@gm...> - 2009-09-08 15:26:00
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Hi, I am trying out a few things on Roomba robot using Roomba driver. I have a few questions. - Does the position2d support SetOdometry ? - Is the driver written even to interface the IR sensors. Since the page on Player site mentions it as to do. ? - I am not very sure how the opaque works. I tried it this way OpaqueProxy opaque(&robot,0); player_opaque_data_t sendcmdd; uint8_t dat[3]; dat[0] = 0; dat[1] = 0; dat[2] = 1; sendcmdd.data_count = 3; sendcmdd.data = dat; opaque.SendCmd( &sendcmdd ); Please suggest if I need to make some changes. This is my most important concern : Is there any place where I can get the source code of the Roomba driver. By which I will be able to understand it well and even modify it to my requirements. I tried searching in the repositories but could not find it. Thanks and regards, Suraj Swami. |
From: Paul O. <new...@ki...> - 2009-09-08 16:32:24
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Hi Suraj, On Tue, 8 Sep 2009, Suraj Swami wrote: > Hi, > > I am trying out a few things on Roomba robot using Roomba driver. I have > a few questions. > > - Does the position2d support SetOdometry ? Nope, I can't see in a whole driver code a place where it could be handled. I guess it is not a good idea to make mess in real robot odometry variables whose can be based on robot past experience. > > - Is the driver written even to interface the IR sensors. Since the page > on Player site mentions it as to do. ? As I see in the code, this interface is provided if it is configured in config file. > > - I am not very sure how the opaque works. > I tried it this way > > OpaqueProxy opaque(&robot,0); > player_opaque_data_t sendcmdd; > > uint8_t dat[3]; > > dat[0] = 0; > dat[1] = 0; > dat[2] = 1; > > > > sendcmdd.data_count = 3; > sendcmdd.data = dat; > > opaque.SendCmd( &sendcmdd ); > > > Please suggest if I need to make some changes. > > > This is my most important concern : Is there any place where I can get > the source code of the Roomba driver. By which I will be able to > understand it well and even modify it to my requirements. I tried > searching in the repositories but could not find it. I don't get it. Player and its driver is open source. I had no problems with modifying Roomba driver for my needs (which resulted in set of patches at some time). Paul |