The goto driver works like any other position2d driver.  It subscribes to another position2d driver, which needs to provide position data (x,y,a).  You can use the playerc/playerc++ client libraries and subscribe to it with a Position2dProxy [1].  Then you can use the GoTo method to send a goal position to the goto driver.

Rich

[1]: http://playerstage.sourceforge.net/doc/Player-cvs/player/classPlayerCc_1_1Position2dProxy.html

On 07/31/2010 03:10 AM, Arkapravo Bhaumik wrote:
Hi Rich

Thanks for your message.

I am still not sure, how to use the goto driver. Can you please direct me to some tutorial. In the installation files Paul has explained how to use it in the cfg file, the problem I am facing is : How to use the goto command ? goto (x,y) ? .... is that it ?

Any suggestions are most welcome.

Arkapravo

On 29 July 2010 18:58, Rich Mattes <jpgr87@gmail.com> wrote:

goto.cc isn’t supposed to be very accurate (and makes mention of that several times in the code).  Its main purpose in life is to demonstrate the threading functionality of libplayerc++.  Which aspects of it would you like to improve?  The motion is controlled by a proportional controller with saturation limits, you could always tweak the parameters (for example, the turn controller has to be more than 10 degrees off course to make a change.)  The avoidance algorithm is also very simple; you could change it to some kind of wall-following scheme or something.

 

There is a driver called “goto” that handles getting your robot from point A to point B.  If you want obstacle avoidance along the way, you can use vfh or nd instead.

 

Rich

 



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