Re: [Playerstage-users] Modifying top navigation speed

[alex <ale...@mo...>]

Geoff Biggs wrote:

> The quickest, easiest way to test if method meets your needs is to add a
> double property for the maximum velocity to the driver. Off the top of
> my head, the first driver that comes to mind (probably because I wrote
> it) as an example of using properties is the hokuyo_aist driver found in
> the server/drivers/ranger/ directory. Have a look at how that driver
> implements configuring the baud rate and changing the baud rate at run
> time (something that is not included in the ranger interface). Pay
> particular attention to the message handling function (ProcessMessage),
> where it receives the PLAYER_SET_INTPROP_REQ request for the baud rate.
> 
> You'll need to use a DoubleProperty for your maximum velocity, which
> means different constants for message types and data types and so on,
> but a quick grep for PLAYER_SET_INTPROP_REQ will point you to where
> they're all defined. Property objects themselves are declared in
> libplayercore/property.h.

Thank Geoff, that's the kind of info I needed.

Alex.

> 
> Geoff
> 
> On 5/01/2010 7:20 p.m., alex wrote:
>> Brian Gerkey wrote:
>>
>>> The vfh driver ignores velocity values when it is sent a position
>>> target.  I suppose that it could be modified to consider the velocity
>>> to be a maximum, but I'm not sure that that's very clear.  Instead, we
>>> should probably add the ability to set the maximum velocities via
>>> configuration request.
>>
>> Thanks for confirming this. I'll see how long would this take to me (I'm
>> unskilled on player internals). Could you give me just some pointer to
>> the function calls I should use? I can follow the docs from there.
>>
>> Alex.
> 
> 
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