Re: [Playerstage-users] Pioneer 1 inc file?

[Reed Hedges <reed@mo...>]

Jing Tang wrote:
> Hi guys, just wondering if anyone has got the inc file for Pioneer 1 robot?
> Thanks very much!
> 


Here's what I use in MobileSim which uses Stage 2.0 currently.  I don't 
know if it's 100% exact, I don't remember if I was able to find any 
actual mechanical drawings for the Pioneer 1 or if I just measured one 
with a tape measure.  I also have no idea what realistic odom_error 
would be for a pioneer1, having never actually used one.  Also I don't 
know if the Pion1 sonar had the same range as current Pioneer sonars.


# Common parameters to all pioneers
define pioneer position (
   color "red"
   drive "diff"
   gui_nose 1                  # Indicate the front.
   gui_boundary 0              # Don't draw bounding box.
   obstacle_return 1           # Can hit things.
   laser_return 1              # Robot body seen by other lasers.
   ranger_return 1             # Seen by other sonar.
   blobfinder_return 1         # Seen by other blobfinders.
   fiducial_return 2           # Seen as "2" by other fiducial sensors.

   localization "odom"         # Change to "gps" to have impossibly 
perfect, global odometry
   localization_origin [0 0 0] # Start odometry at (0, 0, 0).
   odom_error [ 0.01 0.01 0.020 ]   # Odometry error or slip in X, Y and 
Theta
                                    # (Uniform random distribution), 
proportional
                                    # to velocity.
)

# Sonar array
define pioneerSonar ranger (
   sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
   ssize [0.01 0.04]
   laser_return 0
   blobfinder_return 0
   fiducial_return 0
)



# Model for a pion1x differential-drive robot base with sonar.
define pion1x pioneer (
   #pioneer_robot_subtype "pion1x"
   color "blue"

   # Speed profile:
   #max_speed [0.4 0 1.74]


   # Body shape:
   origin [-0.05 0.0 0.0]
   size [0.5 0.4]
   polygons 1
   polygon[0].points 8
   polygon[0].point[0] [-0.175 0.25]
   polygon[0].point[1] [0.175 0.25]
   polygon[0].point[2] [0.2 0.175]
   polygon[0].point[3] [0.2 -0.175]
   polygon[0].point[4] [0.175 -0.25]
   polygon[0].point[5] [-0.175 -0.25]
   polygon[0].point[6] [-0.2 -0.175]
   polygon[0].point[7] [-0.2 0.175]
   polygon[0].filled 1


   # Sonar:
   pioneerSonar (
     scount 7
     sview [0.1 3.5 30]
     ssize [0.01 0.04]
     spose[0] [0.1 0.13 90]
     spose[1] [0.12 0.095 30]
     spose[2] [0.13 0.05 15]
     spose[3] [0.13 0 0]
     spose[4] [0.13 -0.05 -15]
     spose[5] [0.12 -0.095 -30]
     spose[6] [0.1 -0.13 -90]
   )
)

[Playerstage-users] Pioneer 1 inc file?

[Jing Tang <jing.t86@gm...>]

Hi guys, just wondering if anyone has got the inc file for Pioneer 1 robot?
Thanks very much!

-- 
Jing Tang
School of Computer Science
University of Birmingham, UK
Mobile: +44 787 264 5655
Personal Email: jing.t86@...
School Email: ug74jxt@...

Re: [Playerstage-users] Pioneer 1 inc file?

[Reed Hedges <reed@mo...>]

Jing Tang wrote:
> Hi guys, just wondering if anyone has got the inc file for Pioneer 1 robot?
> Thanks very much!
> 


Here's what I use in MobileSim which uses Stage 2.0 currently.  I don't 
know if it's 100% exact, I don't remember if I was able to find any 
actual mechanical drawings for the Pioneer 1 or if I just measured one 
with a tape measure.  I also have no idea what realistic odom_error 
would be for a pioneer1, having never actually used one.  Also I don't 
know if the Pion1 sonar had the same range as current Pioneer sonars.


# Common parameters to all pioneers
define pioneer position (
   color "red"
   drive "diff"
   gui_nose 1                  # Indicate the front.
   gui_boundary 0              # Don't draw bounding box.
   obstacle_return 1           # Can hit things.
   laser_return 1              # Robot body seen by other lasers.
   ranger_return 1             # Seen by other sonar.
   blobfinder_return 1         # Seen by other blobfinders.
   fiducial_return 2           # Seen as "2" by other fiducial sensors.

   localization "odom"         # Change to "gps" to have impossibly 
perfect, global odometry
   localization_origin [0 0 0] # Start odometry at (0, 0, 0).
   odom_error [ 0.01 0.01 0.020 ]   # Odometry error or slip in X, Y and 
Theta
                                    # (Uniform random distribution), 
proportional
                                    # to velocity.
)

# Sonar array
define pioneerSonar ranger (
   sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
   ssize [0.01 0.04]
   laser_return 0
   blobfinder_return 0
   fiducial_return 0
)



# Model for a pion1x differential-drive robot base with sonar.
define pion1x pioneer (
   #pioneer_robot_subtype "pion1x"
   color "blue"

   # Speed profile:
   #max_speed [0.4 0 1.74]


   # Body shape:
   origin [-0.05 0.0 0.0]
   size [0.5 0.4]
   polygons 1
   polygon[0].points 8
   polygon[0].point[0] [-0.175 0.25]
   polygon[0].point[1] [0.175 0.25]
   polygon[0].point[2] [0.2 0.175]
   polygon[0].point[3] [0.2 -0.175]
   polygon[0].point[4] [0.175 -0.25]
   polygon[0].point[5] [-0.175 -0.25]
   polygon[0].point[6] [-0.2 -0.175]
   polygon[0].point[7] [-0.2 0.175]
   polygon[0].filled 1


   # Sonar:
   pioneerSonar (
     scount 7
     sview [0.1 3.5 30]
     ssize [0.01 0.04]
     spose[0] [0.1 0.13 90]
     spose[1] [0.12 0.095 30]
     spose[2] [0.13 0.05 15]
     spose[3] [0.13 0 0]
     spose[4] [0.13 -0.05 -15]
     spose[5] [0.12 -0.095 -30]
     spose[6] [0.1 -0.13 -90]
   )
)

Re: [Playerstage-users] Pioneer 1 inc file?

[Jing Tang <jing.t86@gm...>]

Thanks so much for the inc file, Reed. Cheers.

jing

On 26/02/2008, Reed Hedges <reed@...> wrote:
>
> Jing Tang wrote:
> > Hi guys, just wondering if anyone has got the inc file for Pioneer 1
> robot?
> > Thanks very much!
> >
>
>
>
> Here's what I use in MobileSim which uses Stage 2.0 currently.  I don't
> know if it's 100% exact, I don't remember if I was able to find any
> actual mechanical drawings for the Pioneer 1 or if I just measured one
> with a tape measure.  I also have no idea what realistic odom_error
> would be for a pioneer1, having never actually used one.  Also I don't
> know if the Pion1 sonar had the same range as current Pioneer sonars.
>
>
> # Common parameters to all pioneers
> define pioneer position (
>    color "red"
>    drive "diff"
>    gui_nose 1                  # Indicate the front.
>    gui_boundary 0              # Don't draw bounding box.
>    obstacle_return 1           # Can hit things.
>    laser_return 1              # Robot body seen by other lasers.
>    ranger_return 1             # Seen by other sonar.
>    blobfinder_return 1         # Seen by other blobfinders.
>    fiducial_return 2           # Seen as "2" by other fiducial sensors.
>
>    localization "odom"         # Change to "gps" to have impossibly
> perfect, global odometry
>    localization_origin [0 0 0] # Start odometry at (0, 0, 0).
>    odom_error [ 0.01 0.01 0.020 ]   # Odometry error or slip in X, Y and
> Theta
>                                     # (Uniform random distribution),
> proportional
>                                     # to velocity.
> )
>
> # Sonar array
> define pioneerSonar ranger (
>    sview [0.1 5.0 30]  # min (m), max (m), field of view (deg)
>    ssize [0.01 0.04]
>    laser_return 0
>    blobfinder_return 0
>    fiducial_return 0
> )
>
>
>
> # Model for a pion1x differential-drive robot base with sonar.
> define pion1x pioneer (
>    #pioneer_robot_subtype "pion1x"
>    color "blue"
>
>    # Speed profile:
>    #max_speed [0.4 0 1.74]
>
>
>    # Body shape:
>    origin [-0.05 0.0 0.0]
>    size [0.5 0.4]
>    polygons 1
>    polygon[0].points 8
>    polygon[0].point[0] [-0.175 0.25]
>    polygon[0].point[1] [0.175 0.25]
>    polygon[0].point[2] [0.2 0.175]
>    polygon[0].point[3] [0.2 -0.175]
>    polygon[0].point[4] [0.175 -0.25]
>    polygon[0].point[5] [-0.175 -0.25]
>    polygon[0].point[6] [-0.2 -0.175]
>    polygon[0].point[7] [-0.2 0.175]
>    polygon[0].filled 1
>
>
>    # Sonar:
>    pioneerSonar (
>      scount 7
>      sview [0.1 3.5 30]
>      ssize [0.01 0.04]
>      spose[0] [0.1 0.13 90]
>      spose[1] [0.12 0.095 30]
>      spose[2] [0.13 0.05 15]
>      spose[3] [0.13 0 0]
>      spose[4] [0.13 -0.05 -15]
>      spose[5] [0.12 -0.095 -30]
>      spose[6] [0.1 -0.13 -90]
>    )
> )
>
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-- 
Jing Tang
School of Computer Science
University of Birmingham, UK
Mobile: +44 787 264 5655
Personal Email: jing.t86@...
School Email: ug74jxt@...

Re: [Playerstage-users] Pioneer 1 inc file?

[Reed Hedges <reed@mo...>]

Jing Tang wrote:
> Thanks so much for the inc file, Reed. Cheers.
> 

By the way, do you have a working Pioneer 1 that you still use?  I've 
always been curious how many are out there still working.

Reed

Re: [Playerstage-users] Pioneer 1 inc file?

[Jing Tang <jing.t86@gm...>]

Yes I do. Or to be more accurate, my school does. I'm a final year student
doing my project on Robotics. That's why I got this good old Pioneer I. As
far as I know, only me and another student are using it.

Cheers,

On 26/02/2008, Reed Hedges <reed@...> wrote:
>
> Jing Tang wrote:
> > Thanks so much for the inc file, Reed. Cheers.
> >
>
>
> By the way, do you have a working Pioneer 1 that you still use?  I've
> always been curious how many are out there still working.
>
>
> Reed
>
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
> _______________________________________________
> Playerstage-users mailing list
> Playerstage-users@...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>



-- 
Jing Tang
School of Computer Science
University of Birmingham, UK
Mobile: +44 787 264 5655
Personal Email: jing.t86@...
School Email: ug74jxt@...