From: David J. N. <dn...@i-...> - 2002-12-31 02:53:37
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Richard (or Andrew or both): I was just trying out the OMNI_DRIVE mode in stage/player 1.3's positiondevice. I noticed somewhat of a change from the previous versions behavior. Beside the obvious consolidation of both the old omnipositiondevice and positiondevice into a single new positiondevice with a "omni" drive mode, the new omni mode seems to behave quite differently. Currently in 1.3,the implementation is such that given a commanded velocity in the X direction (i.e. the first parameter to the SetSpeed proxy method) the robot move's at a given speed in the absolute X coordinate direction (as opposed to the moving in the X direction W.R.T the robot's current pose). Is this behavior expected?? It would seem to me more intuitive that the robot commands are always w.r.t. its pose. If this was not the inteneded behavior, then the fix is simply chaning lines 315 and 316 in positiondevice.cc from: dx = step * vx; dy = step * vy; to: dx = step * vx * cos(pa) - step * vy * sin(pa); dy = step * vy * sin(pa) + step * vx * cos(pa); However, if this is the intended behavior, I would suggest adding yet another mode (maybe "omni_relative") that handles this case. On a somewhat related note, it would be nice to be able to query a real robot via its PositionProxy to determine the robot's capabilities (i.e. does it have omni_drive mode)? Is this possible? David Naffin PhD Student RESL & CRES Dept of Computer Science University of Southern California dn...@ro... |
From: ahoward <ah...@po...> - 2002-12-31 16:47:06
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Hi Dave: I think you mean to say that you are using the CVS HEAD version, which is indeed broken for both omni-mode and for odometry in general. This will certainly get fixed prior to the next release. And yes, the behavior you describe below is correct. A. On 30 Dec 2002, David James Naffin wrote: > Richard (or Andrew or both): > > I was just trying out the OMNI_DRIVE mode in stage/player 1.3's > positiondevice. I noticed somewhat of a change from the previous > versions behavior. Beside the obvious consolidation of both the old > omnipositiondevice and positiondevice into a single new positiondevice > with a "omni" drive mode, the new omni mode seems to behave quite > differently. Currently in 1.3,the implementation is such that given a > commanded velocity in the X direction (i.e. the first parameter to the > SetSpeed proxy method) the robot move's at a given speed in the absolute > X coordinate direction (as opposed to the moving in the X direction > W.R.T the robot's current pose). Is this behavior expected?? It would > seem to me more intuitive that the robot commands are always w.r.t. its > pose. If this was not the inteneded behavior, then the fix is simply > chaning lines 315 and 316 in positiondevice.cc from: > > dx = step * vx; > dy = step * vy; > > to: > dx = step * vx * cos(pa) - step * vy * sin(pa); > dy = step * vy * sin(pa) + step * vx * cos(pa); > > > However, if this is the intended behavior, I would suggest adding yet > another mode (maybe "omni_relative") that handles this case. > > On a somewhat related note, it would be nice to be able to query a real > robot via its PositionProxy to determine the robot's capabilities (i.e. > does it have omni_drive mode)? Is this possible? > > > David Naffin > PhD Student > RESL & CRES > Dept of Computer Science > University of Southern California > dn...@ro... > > > > > > > ------------------------------------------------------- > This sf.net email is sponsored by:ThinkGeek > Welcome to geek heaven. > http://thinkgeek.com/sf > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > Andrew Howard email: ah...@po... Department of Computer Science http: www-robotics.usc.edu/~ahoward University of Southern California phone: 1 (213) 740 6416 Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696 << Insert pithy saying here >>> |
From: Richard V. <va...@hr...> - 2002-12-31 20:14:48
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Dave et al. Your analysis of the position device behavior is quite correct. The change of behavior is a mistake on my part, although I do think the current behavior is good, as the velocity/position control axes are aligned with the odometry axes. Your suggestion of having the behavior switchable (body aligned vs.odometry aligned) is a good one, and I'll add it to my list of things to do. best, Richard. Richard Vaughan Information Sciences Lab, HRL Laboratories LLC. va...@hr... (310) 317-5689 On Mon, 30 Dec 2002, David James Naffin wrote: > Richard (or Andrew or both): > > I was just trying out the OMNI_DRIVE mode in stage/player 1.3's > positiondevice. I noticed somewhat of a change from the previous > versions behavior. Beside the obvious consolidation of both the old > omnipositiondevice and positiondevice into a single new positiondevice > with a "omni" drive mode, the new omni mode seems to behave quite > differently. Currently in 1.3,the implementation is such that given a > commanded velocity in the X direction (i.e. the first parameter to the > SetSpeed proxy method) the robot move's at a given speed in the absolute > X coordinate direction (as opposed to the moving in the X direction > W.R.T the robot's current pose). Is this behavior expected?? It would > seem to me more intuitive that the robot commands are always w.r.t. its > pose. If this was not the inteneded behavior, then the fix is simply > chaning lines 315 and 316 in positiondevice.cc from: > > dx = step * vx; > dy = step * vy; > > to: > dx = step * vx * cos(pa) - step * vy * sin(pa); > dy = step * vy * sin(pa) + step * vx * cos(pa); > > > However, if this is the intended behavior, I would suggest adding yet > another mode (maybe "omni_relative") that handles this case. > > On a somewhat related note, it would be nice to be able to query a real > robot via its PositionProxy to determine the robot's capabilities (i.e. > does it have omni_drive mode)? Is this possible? > > > David Naffin > PhD Student > RESL & CRES > Dept of Computer Science > University of Southern California > dn...@ro... > > > > > > > ------------------------------------------------------- > This sf.net email is sponsored by:ThinkGeek > Welcome to geek heaven. > http://thinkgeek.com/sf > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > |
From: brian g. <bg...@us...> - 2002-12-31 20:22:10
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On Mon, 30 Dec 2002, David James Naffin wrote: > > On a somewhat related note, it would be nice to be able to query a real > robot via its PositionProxy to determine the robot's capabilities (i.e. > does it have omni_drive mode)? Is this possible? > > Dave, That's a good idea, and one that we've talked about before. In general, it might be nice to get a list of special capabilities for any given device. I'll think about how to best do that. In the meantime, would you please submit a Feature Request on this topic at SF.net, so that I don't forget about it? thanks, brian. |