From: Brian G. <ge...@ro...> - 2003-12-20 18:30:32
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hi, (I'm forwarding this to our users' list) Please do *not* send questions directly to me, or any other developers. Send them to the users' list instead. That way, everyone can see the questions and answers, and they get archived. In addition, someone other than me might answer them, freeing up my time. On Sat, 20 Dec 2003, Shing Yenn Tan wrote: > 1) How can I make the robot turn a certain degree? Lets say when I command > the robot to stop moving and want it to turn 90 degrees to the left? . Is > the pp.DoRotation command able to do it as I read that it is only supported > by the reb_position driver? (I don't know what a reb_driver is actually). > If not, is there another way for me to do this? I don't remember whether the Stage position model supports position control. If not, then you have to use velocity control. In this case, you just need to implement a controller in your client that checks how far you are from your target pose and supplies a corrective velocity to get you there. For robots, proportional control usually works very well. If you're not familiar with control, get a good book on the subject. > 2) Is there a compass function which I can make use of ? To simulate a real > robot with a compass. Use a truth() device. It supplies the robot's true x,y,theta pose, so you can use the theta field as a compass (0 is to the right, and it increases counterclockwise, like the unit circle). > 3) The Pioneer robot is a holonomic robot so does that mean that the > sidespeed function cannot be used in the stage simulation? Yes. If you want to simulate a holonomic robot, then use an omniposition() model instead of a position() model. brian. |