From: Jordi A. <jor...@gm...> - 2009-06-30 15:54:40
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Hi, I'm starting to feel really bad doing too many questions... sorry! Let's see. Im trying to bring a robot from wherever he is to one little box (im using the everything.cfg&world). What i have tried to do is to use the VFH until the robot is close to one of the boxes. In order to arrive there, i give the box position to the robot using "playerc_position2d_set_cmd_pose (position2d[i], pos1[0], pos1[1], 0.1,1);" So, my intention once it is closed was to take the robot to the box position and catch it using the grip. In order to do it, as i think that there is no way to get so close to the box using the vfh, what i do is to destroy the position2d:1 and suscribe to the position2D:0. OK here comes my problem, how can i do to bring the robot from that position to the box? I tried to use playerc_position2d_set_cmd_pose () and playerc_position2d_set_cmd_pose_with_vel () with their respective parameters, but the robor didn't move (im liying, in one of the cases it rotated but didnt move), and if i use: playerc_position2d_enable(position2d[0], 1); playerc_position2d_set_cmd_vel(position2d[0], .2, .2, 0.5, 1); but then i dont know how to tell the robot to go anywhere... So, being in this situation, do i have to program a movement control in order to arrive to the box position, or is there any function that can help me? I accept any kind of suggestions :) Thank you very very much!! Jordi the noob :) |
From: gbiggs <gb...@ki...> - 2009-07-01 03:34:37
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The robot's position2d device doesn't support pose control. You have to use velocity control and a continuous controller (preferably a closed-loop one using sensing) to guide it that final bit up to the box. Geoff Jordi Arjona wrote: > Hi, > > > I'm starting to feel really bad doing too many questions... sorry! > > Let's see. Im trying to bring a robot from wherever he is to one little > box (im using the everything.cfg&world). What i have tried to do is to > use the VFH until the robot is close to one of the boxes. In order to > arrive there, i give the box position to the robot using > "playerc_position2d_set_cmd_pose (position2d[i], pos1[0], pos1[1], 0.1,1);" > > So, my intention once it is closed was to take the robot to the box > position and catch it using the grip. In order to do it, as i think that > there is no way to get so close to the box using the vfh, what i do is > to destroy the position2d:1 and suscribe to the position2D:0. OK here > comes my problem, how can i do to bring the robot from that position to > the box? > > I tried to use > > playerc_position2d_set_cmd_pose () and > playerc_position2d_set_cmd_pose_with_vel () > > with their respective parameters, but the robor didn't move (im liying, > in one of the cases it rotated but didnt move), and if i use: > > playerc_position2d_enable(position2d[0], 1); > playerc_position2d_set_cmd_vel(position2d[0], .2, .2, 0.5, 1); > > but then i dont know how to tell the robot to go anywhere... > > So, being in this situation, do i have to program a movement control in > order to arrive to the box position, or is there any function that can > help me? > I accept any kind of suggestions :) > > Thank you very very much!! > > Jordi the noob :) |