## Re: [Playerstage-users] The structure of pioneer robot

 Re: [Playerstage-users] The structure of pioneer robot From: Reed Hedges - 2007-11-08 17:26:22 ```syt wrote: > Hi Reed, > > Thank you very much for your valuable information which is very helpful. > > If possible, could you send me the website you get the information from or the designs drawings? > These aren't on the website, but I can get you a specific one if you need it, or you can ask support@... Include your robot serial number, to verify you are a customer. > Another question is whether the location data collected by the odometry each time is the location of the center of the robot? If so, I would say the coordination of laser is 18mm or 125mm forward to the coordination of the odometry(the base robot coordination). Yes, we generally always use the center of rotation on the robot when measuring it's position, or measuring positions relative to it. If not, it should be documented so. I believe Player is the same way (except using meters instead of mm). Reed ```

 [Playerstage-users] The structure of pioneer robot From: syt - 2007-11-07 01:17:26 ```Hello everyone, Does someone know about the structure of pioneer robot or where I can obtain this information? I am trying to the find out the relative position between the real odometry data and the positon of the SICK laser because this is the necessary data to calculate the landmark location detected by the laser. I have not found this information on the website but I will continue to do so. Does someone have an idea? Thanks. Siyang -- View this message in context: http://www.nabble.com/The-structure-of-pioneer-robot-tf4762041.html#a13619405 Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] The structure of pioneer robot From: Reed Hedges - 2007-11-07 14:37:42 ```Hi Siyang, On a DX the center of the laser is 18mm forward from center of the robot. On an AT it's 125 mm. (These values can be found in the robot's ARIA parameter file as LaserX, LaserY, LaserTh, LaserZ all of which are normally 0 except LaserX.) I don't know what the internal structure of the SICK laser is, but the plane of the scanning laser is basically in the middle of the black lens part, you can search for it by watching its output and moving an object near it until it occludes the laser. Let me know if you want more detailed measurements about the robot and I can send you some. Reed syt wrote: > Hello everyone, > > Does someone know about the structure of pioneer robot or where I can obtain > this information? > I am trying to the find out the relative position between the real odometry > data and the positon of the SICK laser because this is the necessary data to > calculate the landmark location detected by the laser. > > I have not found this information on the website but I will continue to do > so. Does someone have an idea? > > Thanks. > Siyang ```
 Re: [Playerstage-users] The structure of pioneer robot From: Reed Hedges - 2007-11-07 15:26:10 ```Reed Hedges wrote: > Hi Siyang, > > On a DX the center of the laser is 18mm forward from center of the robot. On an > AT it's 125 mm. By center I mean center of rotation. However, that value for the AT seems small, isn't it more like 4 or 5 cm? I'll check that out later... Reed ```
 Re: [Playerstage-users] The structure of pioneer robot From: Reed Hedges - 2007-11-07 15:35:18 ```Reed Hedges wrote: > By center I mean center of rotation. However, that value for the AT seems small, > isn't it more like 4 or 5 cm? I'll check that out later... It's correct, I checked the design drawings and measured one. Reed ```
 Re: [Playerstage-users] The structure of pioneer robot From: syt - 2007-11-07 23:45:22 ```Hi Reed, I noticed that you mentioned the meanings of the center. For AT, it is 4 or 5cm. Do you know when we obtain the odometry data (x, y theta), does this correspond to the center(as you said it is the rotation center) of the robot or it corresponds to other part of the robot? Thanks. Cheers Siyang -- View this message in context: http://www.nabble.com/The-structure-of-pioneer-robot-tf4762041.html#a13638708 Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] The structure of pioneer robot From: syt - 2007-11-07 23:35:07 ```Hi Reed, Thank you very much for your valuable information which is very helpful. If possible, could you send me the website you get the information from or the designs drawings? Another question is whether the location data collected by the odometry each time is the location of the center of the robot? If so, I would say the coordination of laser is 18mm or 125mm forward to the coordination of the odometry(the base robot coordination). Look forward to your reply. Thanks so much. Cheers Siyang Reed Hedges-3 wrote: > > > Hi Siyang, > > On a DX the center of the laser is 18mm forward from center of the robot. > On an > AT it's 125 mm. (These values can be found in the robot's ARIA parameter > file > as LaserX, LaserY, LaserTh, LaserZ all of which are normally 0 except > LaserX.) > > I don't know what the internal structure of the SICK laser is, but the > plane of > the scanning laser is basically in the middle of the black lens part, you > can > search for it by watching its output and moving an object near it until it > occludes the laser. > > Let me know if you want more detailed measurements about the robot and I > can > send you some. > > Reed > > > syt wrote: >> Hello everyone, >> >> Does someone know about the structure of pioneer robot or where I can >> obtain >> this information? >> I am trying to the find out the relative position between the real >> odometry >> data and the positon of the SICK laser because this is the necessary data >> to >> calculate the landmark location detected by the laser. >> >> I have not found this information on the website but I will continue to >> do >> so. Does someone have an idea? >> >> Thanks. >> Siyang > > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Splunk Inc. > Still grepping through log files to find problems? Stop. > Now Search log events and configuration files using AJAX and a browser. > Download your FREE copy of Splunk now >> http://get.splunk.com/ > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://www.nabble.com/The-structure-of-pioneer-robot-tf4762041.html#a13638450 Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] The structure of pioneer robot From: Reed Hedges - 2007-11-08 17:26:22 ```syt wrote: > Hi Reed, > > Thank you very much for your valuable information which is very helpful. > > If possible, could you send me the website you get the information from or the designs drawings? > These aren't on the website, but I can get you a specific one if you need it, or you can ask support@... Include your robot serial number, to verify you are a customer. > Another question is whether the location data collected by the odometry each time is the location of the center of the robot? If so, I would say the coordination of laser is 18mm or 125mm forward to the coordination of the odometry(the base robot coordination). Yes, we generally always use the center of rotation on the robot when measuring it's position, or measuring positions relative to it. If not, it should be documented so. I believe Player is the same way (except using meters instead of mm). Reed ```