Re: [Playerstage-users] ER1 and the Scorpion robot

[Brian G. <br...@ge...>]

On Jul 11, 2006, at 1:49 AM, S=F8ren Hauberg wrote:

> Hi,
>   At the University of Copenhagen we have the Evolution Scorpion =20
> Robots. I've read (http://www-robotics.usc.edu/~dfseifer/project-=20
> erplayer.php ) that the ER1 driver should also support the Scorpion =20=

> robots, but I'm not having any luck with this.
>
> I'm using player 1.6.5 on Gentoo Linux. On this machine I'm =20
> currently using ERSP (the software developed by Evolution) so the =20
> machine is capable of talking to the robot. I'm using the 2.6.14 =20
> kernel patched with a patch from Evolution to support the Robot.
>
> When I run player with the standard ER1 config file I get the =20
> following output:
>
> ** Player v1.6.5 **
> * Part of the Player/Stage Project [ http://=20
> playerstage.sourceforge.net].
> * Copyright 2000-2005 Brian Gerkey, Richard Vaughan, Andrew Howard,
> * Nate Koenig and contributors.
> * Released under the GNU General Public License.
> Startup options: [TCP]
>
> Parsing configuration file "scorpion.cfg"
> discovering drivers
> found position
> Using device table:
> ------------------------------------------------------------
> driver er1 provides 6665:position:0
> ------------------------------------------------------------
> listening on ports: 6665
> ** Player [port 6665] client accepted from 127.0.0.1 on socket 7 **
> Evolution Robotics evolution_rcm connection initializing (/dev/=20
> ttyUSB0)...
> [Here player 'sleeps' for more than a minute]
> Stop

The normal things to check are:
- Is the robot indeed connected to /dev/ttyUSB0?
- Do you have permission to open /dev/ttyUSB0?

After that, I would recommend looking inside the driver, to determine =20=

exactly where it stops.  Some additional print statements may help.

You might also have a look at the er1 driver in Player 2.0.2.  I =20
don't know what the current status is (and I don't have any hardware =20
to test with).

	bbrian.