[Playerstage-developers] RWI import

[Nicholas A. M. <na...@cs...>]

I've committed my first version of RWI code.  I've made proxies for
everything that works: position, sonar, laser, bumpers, and power.  It
compiles without mobility (the RWI closed-source library for talking to
robots), but it doesn't do anything useful.  Edit
code/player/Makefile.common to USE_MOBILITY (if you have it). 

Mobility likes to have a lot of platform-specific defines, so I think some
Makefile hacking is in order, but it compiles on x86 linux right now.  I
don't know anything about autoconf/automake, but I hear it's somewhat
difficult to make the conversion.

More documentation is forthcoming.

Matthew, I'd love to have you test this on your robots.  You'll have to
edit Makefile.common as indicated above, putting USE_MOBILITY in the
INCLUDED_DEVICES (I can be more descriptive here, if necessary).  Then,
compile and start a player server like:

  player -rwi_position:0 "name B21R" -rwi_sonar:0 "name B21R upper"

replacing B21R with the name mobility uses for your robots (can be found
at the root of the hierarchy in MOM). The B21R has two rings of sonars
(and bumpers), so try replacing "upper" with "lower", and let me know
which one works for you.  I'll make that the default. 

Thanks,

-- Nik