From: stephen r. <ste...@ya...> - 2005-01-21 15:08:45
|
Is the pioneer.cfg file that I installed with player 1.6 supposed to work properly with a p3at-sh? If not, how do I need to setup the file? I have tried to find it in the online manual (which could use a table of contents) and also with in the mailing lists. When I try to run a playerv client, I cannot teleoperate and drive the robot around. The errors I get are: left wheel: ... velocity threshholded! and right wheel: ... velocity threshholded! I also get an error from playerv that says: playerv : error in dev_bumper.c get_geom failed : got ERR from request Does this explain the velocity threshholded error if the player server on the bot thinks that all of the bumpers are engaged? Again I am using the pioneer.cfg that came with the installation and it recognizes my robot correctly. Other people have been able to get their pioneer 3s working properly, so I am confident that it is just a sw issue from an inexperienced p-s-g coder. Stephen Reiman --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: Brian G. <ge...@ai...> - 2005-01-21 17:04:51
|
stephen reiman wrote: > Is the pioneer.cfg file that I installed with player 1.6 supposed to > work properly with a p3at-sh? Yes, it should. Player's p2os driver contains the necessary parameters for the p3at-sh. > When I try to run a playerv client, I cannot teleoperate and drive the > robot around. Did you enable the motors? Pioneers start by default with the motors off and you have to explicitly turn them on. You can do this physically (by pushing the white button on the robot), or in software (e.g., in playerv, select Devices->position:0->Enable). > The errors I get are: > left wheel: ... velocity threshholded! > and > right wheel: ... velocity threshholded! That means that you requested a velocity that exceeds the thresholds. The robot should still move, but just not as fast at you asked it to. The default thresholds can be changed in the .cfg file using the max_xspeed and max_yawspeed options. Consult the p2os driver docs for details: http://playerstage.sourceforge.net/doc/Player-1.6-html/player/group__player__driver__p2os.html > I also get an error from playerv that says: > playerv : error in dev_bumper.c > get_geom failed : got ERR from request The p2os driver doesn't support the BUMPER_GET_GEOM request (see the above the link for a list of which requests are supported). If your robot has bumpers, you should still be able to get data from them (e.g., try 'playerprint bumper'); you just can't get the robot to tell you their geometry. If you add this capability, please send us a patch. > Does this explain the velocity threshholded error if the player server > on the bot thinks that all of the bumpers are engaged? Nope; the bumpers are not taken into account when interpreting commands. You are free to run the robot into walls. If you want to use the bumpers to stop the robots, take a look at the 'bumpersafe' driver. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: stephen r. <ste...@ya...> - 2005-01-21 21:43:43
|
I have tried to enable the motors using the button and also using enable within playerv. Playerv will not allow me to enable the motors, even if I am using gazebo. I can still drive in gazebo (probably because default is motors on). When I try to drive the pioneer with playerv I receive an auditory error beeping that is similar to when the stop button is activated. The bot is working because it can be driven using the activmedia software (which I prefer not to use). I have also tried to include the max speed option with the cfg file. My cfg now looks like: driver ( name "p2os" provides ["odometry::position:0 max_xspeed 20.0" "sonar:0" "power:0" "bumper:0"] port "/dev/ttyS0" ) is this the proper syntax? The example given in the manual does not include any options. Brian Gerkey <ge...@ai...> wrote: stephen reiman wrote: > Is the pioneer.cfg file that I installed with player 1.6 supposed to > work properly with a p3at-sh? Yes, it should. Player's p2os driver contains the necessary parameters for the p3at-sh. > When I try to run a playerv client, I cannot teleoperate and drive the > robot around. Did you enable the motors? Pioneers start by default with the motors off and you have to explicitly turn them on. You can do this physically (by pushing the white button on the robot), or in software (e.g., in playerv, select Devices->position:0->Enable). > The errors I get are: > left wheel: ... velocity threshholded! > and > right wheel: ... velocity threshholded! That means that you requested a velocity that exceeds the thresholds. The robot should still move, but just not as fast at you asked it to. The default thresholds can be changed in the .cfg file using the max_xspeed and max_yawspeed options. Consult the p2os driver docs for details: http://playerstage.sourceforge.net/doc/Player-1.6-html/player/group__player__driver__p2os.html > I also get an error from playerv that says: > playerv : error in dev_bumper.c > get_geom failed : got ERR from request The p2os driver doesn't support the BUMPER_GET_GEOM request (see the above the link for a list of which requests are supported). If your robot has bumpers, you should still be able to get data from them (e.g., try 'playerprint bumper'); you just can't get the robot to tell you their geometry. If you add this capability, please send us a patch. > Does this explain the velocity threshholded error if the player server > on the bot thinks that all of the bumpers are engaged? Nope; the bumpers are not taken into account when interpreting commands. You are free to run the robot into walls. If you want to use the bumpers to stop the robots, take a look at the 'bumpersafe' driver. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: Richard v. <va...@cs...> - 2005-01-21 22:18:21
|
On 21-Jan-05, at 1:43 PM, stephen reiman wrote: > I have tried to enable the motors using the button and also using =20 > enable within playerv. > Playerv will not allow me to enable the motors, even if I am using =20= > gazebo.=A0 I can still drive in gazebo (probably because default is =20= > motors on).=A0=A0 When I try to drive the pioneer with playerv I =20 > receive=A0an auditory error beeping that is similar to when the stop =20= > button is activated. The bot is working because it can be driven using = =20 > the activmedia software (which I prefer not to use). Can't help with this one I'm afraid. I don't have this problem with our =20= P3-DXs. > I have also tried to include the max speed option with the cfg file. =20= > My cfg now looks like: > is this the proper syntax? The example given in the manual does not =20= > include any options. > =A0 > driver > ( > name "p2os" > provides=A0 ["odometry::position:0 max_xspeed 20.0" > =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 "sonar:0" > =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 "power:0" > =A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0=A0 "bumper:0"] > port "/dev/ttyS0" > ) > This is the correct syntax: driver ( name "p2os" provides=A0 ["odometry::position:0"=A0 "sonar:0" "power:0" = "bumper:0"] max_xspeed 20.0 port "/dev/ttyS0" ) The options are per driver, not per interface. The example does include an option: the "port" option. "max_xspeed" is =20= set exactly the same way. Richard. > Brian Gerkey <ge...@ai...> wrote: > stephen reiman wrote: > > Is the pioneer.cfg file that I installed with player 1.6 supposed to > > work properly with a p3at-sh? > > Yes, it should. Player's p2os driver contains the necessary parameters > for the p3at-sh. > > > When I try to run a playerv client, I cannot teleoperate and drive =20= > the > > robot around. > > Did you enable the motors? Pioneers start by default with the motors > off and you have to explicitly turn them on. You can do this =20 > physically > (by pushing the white button on the robot), or in software (e.g., in > playerv, select Devices->position:0->Enable). > > > The errors I get are: > > left wheel: ... velocity threshholded! > > and > > right wheel: ... velocity threshholded! > > That means that you requested a velocity that exceeds the thresholds. > The robot should still move, but just not as fast at you asked it to. > The default thresholds can be changed in the .cfg file using the > max_xspeed and max_yawspeed options. Consult the p2os driver docs for > details: > > http://playerstage.sourceforge.net/doc/Player-1.6-html/player/=20 > group__player__driver__p2os.html > > > > I also get an error from playerv that says: > > playerv : error in dev_bumper.c > > get_geom failed : got ERR from request > > The p2os driver doesn't support the BUMPER_GET_GEOM request (see the > above the link for a list of which requests are supported). If your > robot has bumpers, you should still be able to get data from them =20 > (e.g., > try 'playerprint bumper'); you just can't get the robot to tell you > their geometry. If you add this capability, please send us a patch. > > > Does this explain the velocity threshholded error if the player =20 > server > > on the bot thinks that all of the bumpers are engaged? > > Nope; the bumpers are not taken into acc ount when interpreting =20 > commands. > You are free to run the robot into walls. If you want to use the > bumpers to stop the robots, take a look at the 'bumpersafe' driver. > > brian. > > --=20 > Brian P. Gerkey ge...@ai... > Stanford AI Lab http://ai.stanford.edu/~gerkey > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IntelliVIEW -- Interactive = Reporting > Tool for open source databases. Create drag-&-drop reports. Save time > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > Do you Yahoo!? > Yahoo! Search presents - Jib Jab's 'Second Term' -- Richard Vaughan School of Computing Science / Simon Fraser University |
From: Brian G. <ge...@ai...> - 2005-01-21 23:30:22
|
Richard vaughan wrote: > > On 21-Jan-05, at 1:43 PM, stephen reiman wrote: > >> I have tried to enable the motors using the button and also using >> enable within playerv. >> Playerv will not allow me to enable the motors, even if I am using >> gazebo. I can still drive in gazebo (probably because default is >> motors on). When I try to drive the pioneer with playerv I >> receive an auditory error beeping that is similar to when the stop >> button is activated. The bot is working because it can be driven >> using the activmedia software (which I prefer not to use). > > > Can't help with this one I'm afraid. I don't have this problem with our > P3-DXs. That's a new one to me, too. Do you get any warnings from Player about finding the appropriate parameters for your robot? In addition to the console, check the file debug file ".player" in the directory where you run Player. Can you get data from the robot (e.g., sonars, bumpers)? > This is the correct syntax: > > driver > ( > name "p2os" > provides ["odometry::position:0" "sonar:0" "power:0" "bumper:0"] > max_xspeed 20.0 > port "/dev/ttyS0" > ) Note that max_xspeed is in meters per second, so 20.0 is a bit high. Fortunately the Pioneer can't go nearly that fast... brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: stephen r. <ste...@ya...> - 2005-01-24 15:30:23
|
I can receive sonar data through playerv and it will update. I receive a get geom error when trying to subscribe to the bumper. As soon as I try and use the command option for position the bot starts beeping, but this stops when I close playerv. I typed the following to setup player: player -d 9 /usr/local/share/player/config/pioneer.cfg I there is no debugging information displayed on the screen during operation. I can't find the .player file you mentioned. I have looked in the location of the .cfg file and also in /bin where player is located. i have also looked through the player documentation, but I can't find a detailed description of debugging. Adding the maxspeed command got rid of the "velocity threshholded!" error, but this might mean that the default maxspeed is 0 instead of 0.5. Is there a way to check for that? Stephen Reiman Brian Gerkey <ge...@ai...> wrote: Richard vaughan wrote: > > On 21-Jan-05, at 1:43 PM, stephen reiman wrote: > >> I have tried to enable the motors using the button and also using >> enable within playerv. >> Playerv will not allow me to enable the motors, even if I am using >> gazebo. I can still drive in gazebo (probably because default is >> motors on). When I try to drive the pioneer with playerv I >> receive an auditory error beeping that is similar to when the stop >> button is activated. The bot is working because it can be driven >> using the activmedia software (which I prefer not to use). > > > Can't help with this one I'm afraid. I don't have this problem with our > P3-DXs. That's a new one to me, too. Do you get any warnings from Player about finding the appropriate parameters for your robot? In addition to the console, check the file debug file ".player" in the directory where you run Player. Can you get data from the robot (e.g., sonars, bumpers)? > This is the correct syntax: > > driver > ( > name "p2os" > provides ["odometry::position:0" "sonar:0" "power:0" "bumper:0"] > max_xspeed 20.0 > port "/dev/ttyS0" > ) Note that max_xspeed is in meters per second, so 20.0 is a bit high. Fortunately the Pioneer can't go nearly that fast... brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: Brian G. <ge...@ai...> - 2005-01-24 19:44:05
|
stephen reiman wrote: > I can receive sonar data through playerv and it will update. I receive a > get geom error when trying to subscribe to the bumper. As soon as I try > and use the command option for position the bot starts beeping, but this > stops when I close playerv. I would guess that there's something going on with the bumpers. Looking through the latest Pioneer manual, it seems that a bumper being pressed can cause the robot to stall, as a safety measure; this happens internally to the robot. I think the beeping you're hearing is the stall warning, which results from this safety behavior. Check that the bumpers are connected to the microcontroller (should be a ribbon cable coming off each bumper array). Also check that none of the microswitches in the bumper arrays is engaged (the bumpers might be physically stuck). As to why ActivMedia's software works where Player does not, maybe they're using the BUMPSTALL command to turn off that safety behavior? If so, I could add an option to do the same. > Adding the maxspeed command got rid of the "velocity threshholded!" > error, but this might mean that the default maxspeed is 0 instead of > 0.5. Is there a way to check for that? No, the default is definitely 0.5mps. It's just that playerv can send speeds greater than that, and they were being thresholded before being forwarded to the robot (which is ignoring them, because it's permanently stalled). brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: stephen r. <ste...@ya...> - 2005-01-25 18:15:05
|
I have checked the bumber connections and they are sat. I also installed player on another robot without doing anything to the bumber system and received the same results. I would agree that the robot thinks that a bumper has been depressed since it exhibits similar behavior when running activmedia sw and activating a bumper for an extended period of time. > As to why ActivMedia"s software works where Player does not, maybe > they"re using the BUMPSTALL command to turn off that safety behavior? > If so, I could add an option to do the same Please let me know what I need to add to the current player code to include BUMPSTALL. If bumper use is a problem with player and p3at-sh, then defaulting them to an "ok" position through the code is a temporary fix I would like to have. thanks. Stephen Reiman Brian Gerkey <ge...@ai...> wrote: Richard vaughan wrote: > > On 21-Jan-05, at 1:43 PM, stephen reiman wrote: > >> I have tried to enable the motors using the button and also using >> enable within playerv. >> Playerv will not allow me to enable the motors, even if I am using >> gazebo. I can still drive in gazebo (probably because default is >> motors on). When I try to drive the pioneer with playerv I >> receive an auditory error beeping that is similar to when the stop >> button is activated. The bot is working because it can be driven >> using the activmedia software (which I prefer not to use). > > > Can't help with this one I'm afraid. I don't have this problem with our > P3-DXs. That's a new one to me, too. Do you get any warnings from Player about finding the appropriate parameters for your robot? In addition to the console, check the file debug file ".player" in the directory where you run Player. Can you get data from the robot (e.g., sonars, bumpers)? > This is the correct syntax: > > driver > ( > name "p2os" > provides ["odometry::position:0" "sonar:0" "power:0" "bumper:0"] > max_xspeed 20.0 > port "/dev/ttyS0" > ) Note that max_xspeed is in meters per second, so 20.0 is a bit high. Fortunately the Pioneer can't go nearly that fast... brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: Brian G. <ge...@ai...> - 2005-01-26 18:58:13
Attachments:
p2os-bumpstall.patch
|
stephen reiman wrote: > Please let me know what I need to add to the current player code to > include BUMPSTALL. hi Stephen, I've just added to the p2os driver the ability to change the bumpstall behavior from the player config file. Note that this is untested code (I don't have any bumper-equipped robots handy), and as such may cause your robot to catch fire. Please let me know how it works. If you're working from CVS, update then make. Alternatively, you can use the attached patch, which is against player 1.6.1 (it should also work with 1.6). To apply the patch, save it somewhere, such as /tmp, then: $ cd player-1.6.1 $ patch -p0 < /tmp/p2os-bumpstall.patch $ make In either case, to try it, use the 'bumpstall' option to the p2os driver, e.g.: driver ( name "p2os" provides ["odometry::position:0" "sonar:0" "bumper:0"] port "/dev/ttyS0" bumpstall 0 ) Allowed values for bumpstall are: -1 (default): Don't change anything; the bumper-stall behavior will be determined by the BumpStall value stored in the robot's FLASH. 0 : Don't stall. 1 : Stall on front bumper contact. 2 : Stall on rear bumper contact. 3 : Stall on either bumper contact. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: Reed H. <re...@ac...> - 2005-01-26 20:51:28
|
Player 1.6.1 has been working OK on my DX, though I made some minor fixes to get it to build on the older RedHat system. If I can get my hands on an AT I'll try it there. Stephen, how fast is the "STATUS" light blinking when connected with player? A few times a second, the moters are disengaged. Faster than you can count, motors are engaged. The BUMPSTALL thing is nice to have (and I'll test your code in a minute Brian, it looks ok), but if that works around the problem then Stephen might have a bumper stuck or shorted, I'd guess. Also, now I know why the bumper geometry is not in player :) (it's not in any .p files) I'll add something in that approximates it though. Reed |
From: stephen r. <ste...@ya...> - 2005-01-27 18:11:53
|
The BUMPSTALL code appears to work on the robot. By work, I mean that when I try and move the robot with playerv I no longer recieve a warning that the bumpers are engaged. However, I still cannot make the wheels move. There is no longer a velocity thresholded error, but the wheels won't turn. The motors appear to be enabled since the status light is blinking fast. And sometimes they appear to move slightly. This is happening on two bots and they both work in the Activmedia environment. It still appears to be a sw issue and not hw related. Has anyone else used player-stage on a p3at-sh? Maybe I should post this question to the list. If someone else got theirs running, perhaps I can dialogue with them. I also just found something in the playerv code that was specific for AT and DX. It was defaulted for a DX. Are there any other portions of the code set up the same way? I am using player 1.6.1?? Stephen Reiman Reed Hedges <re...@ac...> wrote: Player 1.6.1 has been working OK on my DX, though I made some minor fixes to get it to build on the older RedHat system. If I can get my hands on an AT I'll try it there. Stephen, how fast is the "STATUS" light blinking when connected with player? A few times a second, the moters are disengaged. Faster than you can count, motors are engaged. The BUMPSTALL thing is nice to have (and I'll test your code in a minute Brian, it looks ok), but if that works around the problem then Stephen might have a bumper stuck or shorted, I'd guess. Also, now I know why the bumper geometry is not in player :) (it's not in any .p files) I'll add something in that approximates it though. Reed ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Mail - now with 250MB free storage. Learn more. |
From: Brian G. <ge...@ai...> - 2005-01-27 23:03:03
|
stephen reiman wrote: > The BUMPSTALL code appears to work on the robot. By work, I mean that > when I try and move the robot with playerv I no longer recieve a warning > that the bumpers are engaged. However, I still cannot make the wheels > move. There is no longer a velocity thresholded error, but the wheels > won't turn. > > The motors appear to be enabled since the status light is blinking fast. > And sometimes they appear to move slightly. This is happening on two > bots and they both work in the Activmedia environment. It still appears > to be a sw issue and not hw related. This is mysterious. Have you tried driving it from the keyboard with playerjoy? E.g.: $ playerjoy -h <hostname> Hold down 'i' to go forward. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: stephen r. <ste...@ya...> - 2005-01-31 13:33:20
|
I tried using playerjoy and had the same result. How important is the OS? I have been using Mandrake 10 instead of Debian or Redhat. I haven't been able to figure out the package manager for Redhat to install individual packages (such as swig or python) and I haven't been able to get a usbstick working with Debian. Activmedia says that they only "support" Redhat and Debian, which I assumed meant they would provide tech support and the like for these OSes, not that they were the only ones that the AT would work with. Perhaps I was mistaken. y <ge...@ai...> wrote: stephen reiman wrote: > The BUMPSTALL code appears to work on the robot. By work, I mean that > when I try and move the robot with playerv I no longer recieve a warning > that the bumpers are engaged. However, I still cannot make the wheels > move. There is no longer a velocity thresholded error, but the wheels > won't turn. > > The motors appear to be enabled since the status light is blinking fast. > And sometimes they appear to move slightly. This is happening on two > bots and they both work in the Activmedia environment. It still appears > to be a sw issue and not hw related. This is mysterious. Have you tried driving it from the keyboard with playerjoy? E.g.: $ playerjoy -h Hold down 'i' to go forward. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: stephen r. <ste...@ya...> - 2005-01-31 15:19:40
|
Should I try to flash the robot to the latest versions of P2os or other programs? stephen reiman <ste...@ya...> wrote:I tried using playerjoy and had the same result. How important is the OS? I have been using Mandrake 10 instead of Debian or Redhat. I haven't been able to figure out the package manager for Redhat to install individual packages (such as swig or python) and I haven't been able to get a usbstick working with Debian. Activmedia says that they only "support" Redhat and Debian, which I assumed meant they would provide tech support and the like for these OSes, not that they were the only ones that the AT would work with. Perhaps I was mistaken. y <ge...@ai...> wrote: stephen reiman wrote: > The BUMPSTALL code appears to work on the robot. By work, I mean that > when I try and move the robot with playerv I no longer recieve a warning > that the bumpers are engaged. However, I still cannot make the wheels > move. There is no longer a velocity thresholded error, but the wheels > won't turn. > > The motors appear to be enabled since the status light is blinking fast. > And sometimes they appear to move slightly. This is happening on two > bots and they both work in the Activmedia environment. It still appears > to be a sw issue and not hw related. This is mysterious. Have you tried driving it from the keyboard with playerjoy? E.g.: $ playerjoy -h Hold down 'i' to go forward. brian. -- Brian P. Gerkey ge...@ai... Stanf ord AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' __________________________________________________ Do You Yahoo!? Tired of spam? Yahoo! Mail has the best spam protection around http://mail.yahoo.com |
From: Brian G. <ge...@ai...> - 2005-01-31 17:26:37
|
stephen reiman wrote: > Should I try to flash the robot to the latest versions of P2os or other > programs? > > */stephen reiman <ste...@ya...>/* wrote: > > I tried using playerjoy and had the same result. > > How important is the OS? I have been using Mandrake 10 instead of > Debian or Redhat. I am stumped. Neither the P2OS version nor the Linux distro should make any difference. Is there anything else odd about your setup? Maybe a radio modem? Here are two wildly unlikely hypotheses: (1) Your version of P2OS (or AROS, etc.) is blazingly new and behaves differently enough from older versions that Player's p2os driver doesn't work with it. (2) The unit conversion parameters for that robot are wrong, resulting in Player's sending the robot really tiny velocities. You could test this by raising the maximum speeds for the p2os driver (max_xspeed and max_yawspeed in the .cfg file) and then running playerjoy with higher speeds (-speed and -turnspeed on the command line). Try multiplying them all by 10 or 100 (then stand back). brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |
From: stephen r. <ste...@ya...> - 2005-01-31 19:56:29
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thanks for all of your help. Unfortunately I was working with these robots on a temporary detail and it is time for me to stop trying to configure them. It is probably an error in the linux configuration as others have been able to get their robots to work just fine. Thanks again for the help Stephen Reiman Brian Gerkey <ge...@ai...> wrote: stephen reiman wrote: > Should I try to flash the robot to the latest versions of P2os or other > programs? > > */stephen reiman /* wrote: > > I tried using playerjoy and had the same result. > > How important is the OS? I have been using Mandrake 10 instead of > Debian or Redhat. I am stumped. Neither the P2OS version nor the Linux distro should make any difference. Is there anything else odd about your setup? Maybe a radio modem? Here are two wildly unlikely hypotheses: (1) Your version of P2OS (or AROS, etc.) is blazingly new and behaves differently enough from older versions that Player's p2os driver doesn't work with it. (2) The unit conversion parameters for that robot are wrong, resulting in Player's sending the robot really tiny velocities. You could test this by raising the maximum speeds for the p2os driver (max_xspeed and max_yawspeed in the .cfg file) and then running playerjoy with higher speeds (-speed and -turnspeed on the command line). Try multiplying them all by 10 or 100 (then stand back). brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey ------------------------------------------------------- This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting Tool for open source databases. Create drag-&-drop reports. Save time by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. Download a FREE copy at http://www.intelliview.com/go/osdn_nl _______________________________________________ Playerstage-users mailing list Pla...@li... https://lists.sourceforge.net/lists/listinfo/playerstage-users --------------------------------- Do you Yahoo!? Yahoo! Mail - now with 250MB free storage. Learn more. |
From: stephen r. <ste...@ya...> - 2005-01-27 17:03:11
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The BUMPSTALL code appears to work on the robot. By work, I mean that when I try and move the robot with playerv I no longer recieve a warning that the bumpers are engaged. However, I still cannot make the wheels move. There is no longer a velocity thresholded error, but the wheels won't turn. The motors appear to be enabled since the status light is blinking fast. And sometimes they appear to move slightly. This is happening on two bots and they both work in the Activmedia environment. It still appears to be a sw issue and not hw related. Has anyone else used player-stage on a p3at-sh? Maybe I should post this question to the list. If someone else got theirs running, perhaps I can dialogue with them. Stephen Reiman Brian Gerkey <ge...@ai...> wrote: stephen reiman wrote: > Please let me know what I need to add to the current player code to > include BUMPSTALL. hi Stephen, I've just added to the p2os driver the ability to change the bumpstall behavior from the player config file. Note that this is untested code (I don't have any bumper-equipped robots handy), and as such may cause your robot to catch fire. Please let me know how it works. If you're working from CVS, update then make. Alternatively, you can use the attached patch, which is against player 1.6.1 (it should also work with 1.6). To apply the patch, save it somewhere, such as /tmp, then: $ cd player-1.6.1 $ patch -p0 < /tmp/p2os-bumpstall.patch $ make In either case, to try it, use the 'bumpstall' option to the p2os driver, e.g.: driver ( name "p2os" provides ["odometry::position:0" "sonar:0" "bumper:0"] port "/dev/ttyS0" bumpstall 0 ) Allowed values for bumpstall are: -1 (default): Don't change anything; the bumper-stall behavior will be determined by the BumpStall value stored in the robot's FLASH. 0 : Don't stall. 1 : Stall on front bumper contact. 2 : Stall on rear bumper contact. 3 : Stall on either bumper contact. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey diff -c server/drivers/mixed/p2os/p2os.cc /home/gerkey/code/player/server/drivers/mixed/p2os/p2os.cc *** server/drivers/mixed/p2os/p2os.cc Wed Nov 17 14:00:27 2004 --- /home/gerkey/code/player/server/drivers/mixed/p2os/p2os.cc Wed Jan 26 10:03:35 2005 *************** *** 109,114 **** --- 109,125 ---- - radio (integer) - Default: 0 - Nonzero if a radio modem is being used; zero for a direct serial link. + - bumpstall (integer) + - Default: -1 + - Determine whether a bumper-equipped robot stalls when its bumpers are + pressed. Allowed values are: + - -1 : Don't change anything; the bumper-stall behavior will + be determined by the BumpStall value stored in the robot's + FLASH. + - 0 : Don't stall. + - 1 : Stall on front bumper contact. + - 2 : Stall on rear bumper contact. + - 3 : Stall on either bumper contact. - joystick (integer) - Default: 0 - Use direct joystick control *************** *** 351,356 **** --- 362,368 ---- ::initialize_robot_params(); // Read config file options + this->bumpstall = cf->ReadInt(section,"bumpstall",-1); this->psos_serial_port = cf->ReadString(section,"port",DEFAULT_P2OS_PORT); this->radio_modemp = cf->ReadInt(section, "radio", 0); this->joystickp = cf->ReadInt(section, "joystick", 0); *************** *** 739,744 **** --- 751,781 ---- this->SendReceive(&accel_packet); } + // if requested, change bumper-stall behavior + // 0 = don't stall + // 1 = stall on front bumper contact + // 2 = stall on rear bumper contact + // 3 = stall on either bumper contact + if(this->bumpstall >= 0) + { + if(this->bumpstall > 3) + PLAYER_ERROR1("ignoring bumpstall value %d; should be 0, 1, 2, or 3", + this->bumpstall); + else + { + PLAYER_MSG1(1, "setting bumpstall to %d", this->bumpstall); + P2OSPacket bumpstall_packet;; + unsigned char bumpstall_command[4]; + bumpstall_command[0] = BUMP_STALL; + bumpstall_command[1] = ARGINT; + bumpstall_command[2] = (unsigned char)this->bumpstall; + bumpstall_command[3] = 0; + bumpstall_packet.Build(bumpstall_command, 4); + this->SendReceive(&bumpstall_packet); + } + } + + // zero position command buffer player_position_cmd_t zero; memset(&zero,0,sizeof(player_position_cmd_t)); diff -c server/drivers/mixed/p2os/p2os.h /home/gerkey/code/player/server/drivers/mixed/p2os/p2os.h *** server/drivers/mixed/p2os/p2os.h Wed Nov 10 17:39:33 2004 --- /home/gerkey/code/player/server/drivers/mixed/p2os/p2os.h Wed Jan 26 09:43:52 2005 *************** *** 76,81 **** --- 76,82 ---- #define GRIPPERVAL 36 #define TTY2 42 // Added in AmigOS 1.2 #define GETAUX 43 // Added in AmigOS 1.2 + #define BUMP_STALL 44 #define JOYDRIVE 47 #define GYRO 58 // Added in AROS 1.8 #define TTY3 66 // Added in AmigOS 1.3 *************** *** 198,203 **** --- 199,205 ---- int radio_modemp; // are we using a radio modem? int joystickp; // are we using a joystick? + int bumpstall; // should we change the bumper-stall behavior? public: --------------------------------- Do you Yahoo!? Yahoo! Search presents - Jib Jab's 'Second Term' |
From: Reed H. <re...@ac...> - 2005-01-28 13:20:59
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stephen reiman wrote: > Has anyone else used player-stage on a p3at-sh? > I drove around an AT a bit yesterday with player 1.6.1 just fine. It may inch forward a bit even if the bumper is pressed. (Though behavior like this varies slightly between ARCOS versions, this is a brand new AT, so I assume it's ARCOS 1.2). Reed |