Re: [Playerstage-users] parameters for a PatrolBot -- laser readings inversed

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

On Oct 15, 2008, at 9:14 AM, Alberto Valero wrote:

> These are the params of all robots from ARIA. We got the robot 6  
> months
> ago.
>
> Please, if you update p2os let us know how to download it.

It seems like the format has changed slightly in a way that breaks my  
parser.  Does anyone know what is the intended behavior when a  
parameter has no value?  I'm thinking of lines like these:

   LaserPort                ; port the laser is on
   LaserIgnore            ; Readings within a degree of the listed  
degrees

Anyone know what value should these parameters should be given?  0? ""?

	brian.


> El mié, 15-10-2008 a las 08:38 -0700, Brian Gerkey escribió:
>> On Oct 15, 2008, at 6:37 AM, Alberto Valero wrote:
>>
>>> We have just configured player to work with a PatrolBot,
>>
>>>
>>> Connected to UPMDISAM_5020, a Pioneer patrolbot-sh
>>> P2OS: Warning: couldn't find parameters for this robot; using  
>>> defaults
>>>
>>> Question: Where can I write the parameters of my robot.
>>
>> The parameters are not settable at runtime.  They're hardcoded into
>> the p2os driver (not the best solution, but it's worked well enough  
>> so
>> far).  The problem here is that the p2os driver hasn't been updated  
>> in
>> a while, and so doesn't have parameters for a robot with class/
>> subclass == Pioneer/patrolbot-sh.
>>
>> There's a parser in player/server/codetools/saphconv that reads in
>> Saphira .p files (MobileRobots sends out robot parameters in these
>> files) and emits a pair of source files: robot_params.cc and
>> robot_params.h.  These two files get compiled into the p2os driver.
>>
>> If someone can send the latest .p files for MobileRobots' robots (all
>> of them, not just the PatrolBot), I'll generate updated sources for
>> the p2os driver. Or you can run the parser yourself (look at the
>> README in the parser directory) and send the new sources and I'll
>> check them in.
>>
>>> -The laser readings are inversed in comparison to the laser readings
>>> got
>>> from Player/Stage with a P2AT, which creates confunssion with mi  
>>> robot
>>> program.
>>
>> Add this line to the sicklms200 driver block in your .cfg file:
>>   invert 1
>>
>> 	brian.
>>
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> < 
> params 
> .tar 
> .gz 
> > 
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