From: Jordi <mu...@gm...> - 2007-12-07 05:36:52
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I have seen that the pioneer controller is almost generic. The only thing left seems to be the wheelDiam and wheelSep in the code. To solve this, it can be several solutions: - Add wheelDiameter and wheelSeparation as XML nodes of the controller - Add leftWheel and rightWheel as XML nodes of the controller - Some hack based on the joints (I don't know how but will avoid adding more XML nodes) If Nate agrees with any of this, I can write the patch. Also the name of the controller can be changed from pioneer_.... to differential_steering. Also, this controller set the maximum torque to 10.1. This is something that other controllers may want to change? |
From: Nate K. <nk...@us...> - 2007-12-12 19:12:06
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On Dec 6, 2007 9:36 PM, Jordi <mu...@gm...> wrote: > > I have seen that the pioneer controller is almost generic. The only thing > left seems to be the wheelDiam and wheelSep in the code. > To solve this, it can be several solutions: > - Add wheelDiameter and wheelSeparation as XML nodes of the controller > - Add leftWheel and rightWheel as XML nodes of the controller > - Some hack based on the joints (I don't know how but will avoid adding more > XML nodes) These changes are fine. And you can add in a parameter for the torque. -nate |
From: Jordi <mu...@gm...> - 2007-12-12 19:54:00
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It is supposed that you choose one of the solutions or propose a Joint based hack :P I guess wheelDiameter wheelSeparation Torque would be the easiest On Dec 13, 2007 4:12 AM, Nate Koenig <nk...@us...> wrote: > On Dec 6, 2007 9:36 PM, Jordi <mu...@gm...> wrote: > > > > I have seen that the pioneer controller is almost generic. The only > thing > > left seems to be the wheelDiam and wheelSep in the code. > > To solve this, it can be several solutions: > > - Add wheelDiameter and wheelSeparation as XML nodes of the controller > > - Add leftWheel and rightWheel as XML nodes of the controller > > - Some hack based on the joints (I don't know how but will avoid adding > more > > XML nodes) > > These changes are fine. And you can add in a parameter for the torque. > > -nate > > ------------------------------------------------------------------------- > SF.Net email is sponsored by: > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services > for just about anything Open Source. > > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- Jordi Polo Natural language processing laboratory NAIST |
From: Nate K. <nk...@us...> - 2007-12-17 02:39:46
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Ooops. Sorry, I just read the first option, and stopped there. The first option is the best. -nate On Dec 12, 2007 11:26 AM, Jordi <mu...@gm...> wrote: > > It is supposed that you choose one of the solutions or propose a Joint based > hack :P > I guess wheelDiameter wheelSeparation Torque would be the easiest > > > > > > On Dec 13, 2007 4:12 AM, Nate Koenig < nk...@us...> wrote: > > > > > > > > > > On Dec 6, 2007 9:36 PM, Jordi < mu...@gm...> wrote: > > > > > > I have seen that the pioneer controller is almost generic. The only > thing > > > left seems to be the wheelDiam and wheelSep in the code. > > > To solve this, it can be several solutions: > > > - Add wheelDiameter and wheelSeparation as XML nodes of the controller > > > - Add leftWheel and rightWheel as XML nodes of the controller > > > - Some hack based on the joints (I don't know how but will avoid adding > more > > > XML nodes) > > > > These changes are fine. And you can add in a parameter for the torque. > > > > -nate > > > > ------------------------------------------------------------------------- > > SF.Net email is sponsored by: > > Check out the new SourceForge.net Marketplace. > > It's the best place to buy or sell services > > for just about anything Open Source. > > > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > -- > Jordi Polo > Natural language processing laboratory > NAIST > > ------------------------------------------------------------------------- > SF.Net email is sponsored by: > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services > for just about anything Open Source. > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > |
From: Jordi <mu...@gm...> - 2007-12-17 15:22:45
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Done http://sourceforge.net/tracker/index.php?func=detail&aid=1852384&group_id=42445&atid=433166 I think that the name can be differentialSteering or something similar now. I forgot to modify the new PioneerAt world, wheelDiameter=0.381wheelSeparation= 0.20 torque=10.0 and it should work with the same controller than the pioneerDX On Dec 17, 2007 11:39 AM, Nate Koenig <nk...@us...> wrote: > Ooops. Sorry, I just read the first option, and stopped there. The > first option is the best. > > -nate > > On Dec 12, 2007 11:26 AM, Jordi <mu...@gm...> wrote: > > > > It is supposed that you choose one of the solutions or propose a Joint > based > > hack :P > > I guess wheelDiameter wheelSeparation Torque would be the easiest > > > > > > > > > > > > On Dec 13, 2007 4:12 AM, Nate Koenig < nk...@us...> wrote: > > > > > > > > > > > > > > > On Dec 6, 2007 9:36 PM, Jordi < mu...@gm...> wrote: > > > > > > > > I have seen that the pioneer controller is almost generic. The only > > thing > > > > left seems to be the wheelDiam and wheelSep in the code. > > > > To solve this, it can be several solutions: > > > > - Add wheelDiameter and wheelSeparation as XML nodes of the > controller > > > > - Add leftWheel and rightWheel as XML nodes of the controller > > > > - Some hack based on the joints (I don't know how but will avoid > adding > > more > > > > XML nodes) > > > > > > These changes are fine. And you can add in a parameter for the torque. > > > > > > -nate > > > > > > > ------------------------------------------------------------------------- > > > SF.Net email is sponsored by: > > > Check out the new SourceForge.net Marketplace. > > > It's the best place to buy or sell services > > > for just about anything Open Source. > > > > > > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Pla...@li... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > > > > > -- > > Jordi Polo > > Natural language processing laboratory > > NAIST > > > > > ------------------------------------------------------------------------- > > SF.Net email is sponsored by: > > Check out the new SourceForge.net Marketplace. > > It's the best place to buy or sell services > > for just about anything Open Source. > > > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > > > > _______________________________________________ > > Playerstage-gazebo mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > ------------------------------------------------------------------------- > SF.Net email is sponsored by: > Check out the new SourceForge.net Marketplace. > It's the best place to buy or sell services > for just about anything Open Source. > > http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace > _______________________________________________ > Playerstage-gazebo mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > -- Jordi Polo Carres Natural language processing laboratory NAIST http://www.bahasara.org |