Hi Toyd,
 
Thank you very much.
 
Now i have following question about VFH driver.
 
driver  (    name "p2os"    provides ["odometry::position:1"]    port "/dev/ttyS0"  )  driver  (    name "sicklms200"    provides ["laser:0"]    port "/dev/ttyS1"  )  driver  (    name "vfh"    requires ["position:1" "laser:0"]    provides ["position:0"]    safety_dist 0.10    distance_epsilon 0.3    angle_epsilon 5  )
Why we are providing two position interfaces? As I know, we aks the current position from robot then VFH process the rest of work.
 
I have made in my client following changes. But still it does not avoid obstacles.
 
  Position2DProxy pos_plain(&robot, 0);          Position2DProxy pos_smart(&robot, 1);
 pos_smart.SetSpeed(speed,0.0, turnrate);
Can you
 provide me usage of VFH ?
 
Thank you again.
 
 
Toby Collett <tcollett+player@plan9.net.nz> wrote:
Hi,
There is a player manual
http://playerstage.sourceforge.net/index.php?src=doc
It is sometimes a bit light on the theory, but is the main player
reference, apart of course from the code. The examples in the source
distribution are a good place to get further info.

There is no problem at all running player across a distributed set of
computers, as long as TCP or UDP traffic can route between them you are
fine.

The distinction between a server driver and a client is becoming
increasingly blurred these days, you can run a complete player
application with no clients at all now. The main difference is the
clients use the client proxy libraries which can be easier to use/learn,
clients cannot produce data, and a client runs in its own process and
therefore must have a main function etc. Server drivers run in a player
server and therefore use its process (but are multithreaded), they can
produce and consume data, and use the player core API's rather than the
client proxies.

A player Device is the run time binding of a player interface to a
driver. So a pioneer provides several devices through the p2os driver
(position2d, gripper, actarray, power, bumpers, sonar ...). Often there
will be a 1 to 1 mapping between player devices and physical devices,
but not always...

Finally for point 5, server drivers can all be multithreaded and are
mostly reactive systems, so they are inherently asynchronous. The player
clients are often used in a more synchronous manner, but their are
methods to use either threading or non blocking read calls to allow work
to be done while you are reading.

Hope that helps somewhat,

Toby

janarbek wrote:
> Hi all,
>
> I have started player few days ago. Not yet implemented super duper
> things. Currently, using stage. We don't have pioneer or widelly
> supported HWs. instead, we have some robots that are manufactured by
> S.Korea.
>
> I am just curious so lemme ask some questions to the experts.
>
> 1. Why are you guys calling Client as the Controller program for
> Player Server. As I see every Client program is a Controller
> program. Traditionally, we called it Controller. I see there is
> Player server but they(Client and Server) in almost all cases
> reside in same robot(Computer).
> 2. I have 3 robots. I want to install Player on robot1 and try to
> access from robot2 and robot3 for the sensor data of Player in
> robot1. Is this possible? if so, is this the way that Player is
> supporting distributed sensing?
> 3. Is there any full manual and best practice example? I have read
> the online tutorials but i want to learn player as user also as
> a developer level.
> 4. What is Player Device? and How is different from Hardware
> Device? i am confusing.
> 5. Is asynchronous messaging among robots possible? for example,
> getting sensor data of robot1 while doing some other thing.
>
>
> if i made some inapproprite questions, please ignore it. these are the
> questiosn bothering me.
>
> Regards,
> Janarbek.
>
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